DocumentCode :
1811888
Title :
Online Petri net based algorithm for planning and controlling mobile robots
Author :
Mahulea, Cristian ; Kloetzer, Marius
Author_Institution :
Aragon Inst. of Eng. Res. (I3A), Univ. of Zaragoza, Zaragoza, Spain
fYear :
2012
fDate :
17-21 Sept. 2012
Firstpage :
1
Lastpage :
8
Abstract :
The paper presents a procedure for planning and controlling a team of identical mobile robots such that a set of target regions are reached. We consider a partitioned environment cluttered with a set of obstacles that randomly change their positions. Our approach abstracts both the control capabilities of robots and the information on obstacle locations into probabilistic discrete Petri net models, and it uses an online algorithm for planning and adjusting the sequences of regions the robots should traverse. At each iteration of the online algorithm we solve a linear programming problem that optimizes the robot paths by weighting the probabilities of following a sequence of partition regions and the steady-state probabilities of encountering obstacles along the resulted sequences. The approach is implemented as a fully automated Matlab package.
Keywords :
Petri nets; collision avoidance; cosmology; iterative methods; linear programming; mobile robots; sequences; automated Matlab package; identical mobile robots; linear programming problem; mobile robot control; mobile robot planning; obstacle locations; online Petri net-based algorithm; partition regions sequence; partitioned environment; probabilistic discrete Petri net models; random position change; steady-state probabilities; target regions set;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Emerging Technologies & Factory Automation (ETFA), 2012 IEEE 17th Conference on
Conference_Location :
Krakow
ISSN :
1946-0740
Print_ISBN :
978-1-4673-4735-8
Electronic_ISBN :
1946-0740
Type :
conf
DOI :
10.1109/ETFA.2012.6489598
Filename :
6489598
Link To Document :
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