Case-Based Reasoning (CBR) based Path-Planning using Robotic Operating System (ROS)

-Path planning in robotics has always been a research topic. Several path planning methods are proposed with improved efficiency interms of shortest path finding capability, cost, space and time complexities. State space search and heuristic search methods are the widely adapted methods for path planning. Breadth-First Search, Depth-First Search, Dijikstra’s algorithm and A-star algorithm are the techniques used for path planning. Out of which A-star algorithm has proven characteristics of finding the shortest path. Case-Based Reasoning (CBR) system implements a simple form of dynamic memory that learns by adding new cases, as and when new problems are encountered and solved. In this paper, Case-Based Reasoning is used for creating a case-base for path-planning. So different paths are stored as cases and when robots are placed in an environment it tries to retrieve the solution from the case-base, but if the environment is new it retains the solution. Thus it helps the Heuristic algorithm to function effectively and reduces the load to the processor which can perform some other task in the mean time. Keywords-Path planning; Heuristic search; A-Star algorithm; Case based Reasoning.