Title :
Statistical motion planning for mobile robots: paradigms for efficiency and optimality using a discrete model
Author :
Kruse, E. ; Gutsche, R. ; Wahl, F.M.
Author_Institution :
Inst. for Robotics & Process Control, Tech. Univ. Braunschweig, Germany
Abstract :
In recent papers we have proposed a new path planning approach for mobile robots, which employs statistical data in order to plan efficient paths in environments with moving obstacles. In this paper, a more systematic insight is offered using a simplified model with discrete space and time. We present complete algorithms yielding globally optimal solutions without requiring any heuristics. Regarding the reactive behaviour, benefits of statistical motion planning are specified in terms of reliability and expected time to reach the given goal positions
Keywords :
discrete time systems; mobile robots; optimisation; path planning; probability; statistical analysis; discrete model; efficiency; mobile robots; moving obstacle avoidance; probability; reactive behaviour; statistical motion planning; Electronic mail; Mobile robots; Motion planning; Path planning; Predictive models; Probability; Process control; Process planning; Stress; Trajectory;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.638128
