https://m2.mtmt.hu/ hun 2026-06-25 16:35 JournalArticle 2693610 APPROVED true 0 2015-12-01T09:21:03.000+0000 false 2693610 2024-10-28T16:14:19.180+0000 2019-06-24T08:48:13.629+0000 2013-06-19T13:14:00.000+0000 true 10041925 Kiss Domokos /api/author/10041925 Author true 10041925 2019-06-24T08:48:13.674+0000 2019-06-24T08:48:13.674+0000 true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Kiss, Domokos Nonholonomic Path Planning for a Point Robot with Car-Like Kinematics true false /api/journal/10031791 REVIEWED true true 10031791 true 10031791 true 2064-5260 2064-5279 Journal FOREIGN 57 3 65 76 65 12 2013 A new approach of nonholonomic path planning for car-like robots is presented. The main idea is similar to many existing approaches which obtain a path in two phases. It is familiar in nonholonomic planning that at first a holonomic path is planned which is approximated by a nonholonomic one in a second step by subdividing it into smaller parts and replacing them with local paths fulfilling the kinematic constraints. These methods mostly rely on probabilistic methods and heuristic optimization. Our approach uses a holonomic preliminary path as well, but it serves only as a "loose guidance" to the second phase of the planning process. The final path is not required to contain any of the intermediate points of the preliminary path at all. The method is effective in environments consisting of narrow corridors but having wider free areas as well which can be used for maneuvering. 2013 bme-pa-migracio-20014-06-20-v01 false true true false true false GOLD 2024-10-28 true https://doi.org/10.3311/PPee.2099 true 10014110 Szmolyán Mária /api/admin/10014110 Admin true 10014110 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Q4 false false false false 2014-12-08T12:15:53.000+0000 2014-06-23T17:04:30.000+0000 Automatizálási és Alkalmazott Informatikai Tanszék (BME / VIK) 2 4 1 2 0 false Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 5356596 /api/authorship/5356596 1 0.5 true false Author 10041925 /api/author/10041925 Kiss Domokos true 10041925 true Kiss Domokos true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false 20049243 true PersonAuthorship 5356597 /api/authorship/5356597 2 0.5 false true Author 10013517 /api/author/10013517 Tevesz Gábor true 10013517 true Tevesz Gábor true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false 20049242 true PublicationIdentifier 865724 /api/publicationidentifier/865724 PlainSource 6 /api/publicationsource/6 PublicationSourceType 10001 /api/publicationsourcetype/10001 true true true DOI DOI https://doi.org/@@@ true true 6 true GOLD true IDENTICAL 10.3311/PPee.2099 https://doi.org/10.3311/PPee.2099 false 886243 true PublicationIdentifier 865723 /api/publicationidentifier/865723 PlainSource 3 /api/publicationsource/3 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true false NO 84893595167 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-84893595167 false 1261338 true PublicationIdentifier 865726 /api/publicationidentifier/865726 PlainSource 40 /api/publicationsource/40 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Egyéb URL Other URL @@@ true true 40 true false NO http://www.pp.bme.hu/ee/article/view/2099 http://www.pp.bme.hu/ee/article/view/2099 false 886245 true PublicationIdentifier 865727 /api/publicationidentifier/865727 PlainSource 152 /api/publicationsource/152 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Handle http://hdl.handle.net/@@@ true true 152 true false NO 10890/5026 http://hdl.handle.net/10890/5026 false 1449665 true Classification 10034 /api/classification/10034 true true Keyword 1214180 /api/keyword/1214180 true 1214180 true SjrRating 11254879 /api/sjrrating/11254879 214 1.0 journal RatingType 10002 /api/ratingtype/10002 sjr true true ClassificationExternal 1705 /api/classificationexternal/1705 true 1705 true Q4 DIRECT true true /api/publication/2693610 <div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10041925"><a href="/gui2/?type=authors&mode=browse&sel=10041925" target="_blank">Kiss Domokos (<span class="authorship-author-name">Kiss Domokos</span> <span class="authorAux-mtmt"> Alkalmazott informatika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Automatizálási és Alkalmazott Informatikai Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10013517"><a href="/gui2/?type=authors&mode=browse&sel=10013517" target="_blank">Tevesz Gábor (<span class="authorship-author-name">Tevesz Gábor</span> <span class="authorAux-mtmt"> Irányítástechnika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Automatizálási és Alkalmazott Informatikai Tanszék</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;2693610" target="_blank">Nonholonomic Path Planning for a Point Robot with Car-Like Kinematics</a></div> <div> <span class="journal-title">PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/2064-5260">2064-5260</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/2064-5279">2064-5279</a>)</span>: <span class="journal-volume">57</span> <span class="journal-issue">3</span> <span class="page"> pp 65-76 </span> <span class="year">(2013)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_GOLD" title=" Gold "> <a style="color:blue" title="10.3311/PPee.2099" target="_blank" href="https://doi.org/10.3311/PPee.2099"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="84893595167" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-84893595167"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="http://www.pp.bme.hu/ee/article/view/2099" target="_blank" href="http://www.pp.bme.hu/ee/article/view/2099"> Egyéb URL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="10890/5026" target="_blank" href="http://hdl.handle.net/10890/5026"> Handle </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Computer Networks and Communications&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q4</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Computer Science Applications&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q4</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Electrical and Electronic Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q4</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Information Systems&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q4</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Signal Processing&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q4</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Software&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q4</div> </div></OnlyViewableByAuthor> <div class="mtid"><span class="long-pub-mtid">Közlemény: 2693610</span> | <span class="status-data status-APPROVED"> Nyilvános </span> <span class="oldId">Régi azonosító: 2693610</span> | Forrás | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Utolsó módosítás: 2019.06.24. 10:48 Megyeri Zsuzsa (BME VIK admin 5) </div> </div></div>