DocumentCode :
2595878
Title :
Experimental research of navigation behavior selection using generalized stochastic Petri nets (GSPN) for a tour-guide robot
Author :
Kim, Gunhee ; Chung, Woojin ; Park, Sung-Kee ; Kim, Munsang
Author_Institution :
Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
2259
Lastpage :
2265
Abstract :
This paper proposes a formal selection framework of multiple navigation behaviors for a service robot. In our approach, modeling, analysis, and performance evaluation are carried out based on the generalized stochastic Petri nets (GSPN). By adopting probabilistic approach, our framework helps the robot to select the most desirable navigation behavior in run time according to environmental conditions. Moreover, after a mission, the robot evaluates prior navigation performance from accumulated data, and uses the results for the improvement of future operations. Also, GSPN has several advantages over classic automata or direct use of Markov process. The basic ideas of the framework were introduced in our previous work (Gunhee Kim et al., 2005). Thus, this paper focuses on experimental verification by implementing the framework into the guide robot Jinny. We conduct the experiments about real guidance tasks with visitors in the National Science Museum of Korea. The results show that the proposed strategy is useful to select an appropriate navigation behavior in a dynamic space.
Keywords :
Monte Carlo methods; Petri nets; humanities; mobile robots; navigation; stochastic processes; Jinny; Monte-Carlo localization; formal selection framework; generalized stochastic Petri nets; robot navigation behavior selection; service robot; tour-guide robot; Intelligent robots; Navigation; Orbital robotics; Performance analysis; Petri nets; Robot sensing systems; Robotics and automation; Service robots; Space technology; Stochastic processes; Generalized Stochastic Petri Nets; Monte-Carlo localization; Robot navigation; a guide robot; behavior selection;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545174
Filename :
1545174
Link To Document :
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