Probability of success and uncertainty analysis in path planning

This paper shows the robustness path planning for mobile robots in indoors environments. The planning includes an accurate uncertainty in position analysis and the probability of success calculation as a path quality measurement. A topological and metric environment model, for the environment representation, is proposed. This model includes localization and risk transit zones. During the planning process, all the paths to complete a mission, are generated. Obtaining parameters such as: goal uncertainty, path feasibility, path distance and path uncertainty. These parameters allow the most adequate paths selection to fulfil a mission.