A probabilistic abstraction approach for planning and controlling mobile robots

Author

Kloetzer, Marius ; Mahulea, Cristian ; Pastravanu, Octavian

Author_Institution

Dept. of Autom. Control & Appl. Inf., Tech. Univ. "Gh. Asachi of Iasi", Iasi, Romania

fYear

2011

fDate

5-9 Sept. 2011

Firstpage

1

Lastpage

8

Abstract

The paper presents a procedure for creating a probabilistic finite-state model for a mobile robot and for finding a sequence of controllers ensuring the highest probability for reaching a desired region. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite representation with history-based probabilities on transition. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a target region is found. This probabilistic framework is suitable for controlling mobile robots based on more complex specifications.

Keywords

Petri nets; mobile robots; path planning; probability; Petri net model; affine system; finite representation; history-based probability; mobile robot; planning; probabilistic abstraction; probabilistic cost; probabilistic finite-state model; Computational modeling; Feedback control; Mobile robots; Planning; Probabilistic logic; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies & Factory Automation (ETFA), 2011 IEEE 16th Conference on

Conference_Location

Toulouse

ISSN

1946-0740

Print_ISBN

978-1-4577-0017-0

Electronic_ISBN

1946-0740

Type

conf

DOI

10.1109/ETFA.2011.6059088

Filename

6059088