GSPN (Generalized Stochastic Petri Nets) based navigation behavior control of an indoor service robot

In this paper, we propose a behavior selection scheme between a reactive motion control combined with a global path planning algorithm and combined with a trajectory tracking algorithm. We design two navigation behaviors. One is a plan-based reactive navigation behavior, the AutoMove_reactive, which exploits the conventional Dynamic Window Approach (DWA) as the reactive motion controller. The other behavior is AutoMove_tracking, which exploits trajectory tracking controller. Two navigation schemes are based on different navigation assumptions. As a result, the two schemes have completely different advantages and disadvantages. We selected the appropriate navigation behavior based on the Generalized Stochastic Petri Nets (GSPN) discrete control framework.