DocumentCode :
3445406
Title :
A framework for motion planning in stochastic environments: modeling and analysis
Author :
LaValle, Steven M. ; Sharma, Rajeev
Author_Institution :
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
Volume :
3
fYear :
1995
fDate :
21-27 May 1995
Firstpage :
3057
Abstract :
Presents a framework for analyzing and determining motion plans for a robot that operates in an environment that changes over time in an uncertain manner. The authors first classify sources of uncertainty in motion planning into four categories, and argue that the framework addressed in this paper characterizes an important, yet little-explored category. The authors treat the changing environment in a flexible manner by combining traditional configuration space concepts with a Markov process that models the environment. For this context, the authors then propose the use of a motion strategy, which provides a motion command for the robot for each contingency that it could be confronted with. The authors allow the specification of a desired performance criterion, such as time or distance, and the goal is to determine a motion strategy that is optimal with respect to that criterion. A motion planning problem in this framework is formulated as the design of a stochastic optimal controller
Keywords :
Markov processes; control system synthesis; mobile robots; optimal control; path planning; stochastic systems; Markov process; motion command; motion planning; performance criterion; stochastic environments; stochastic optimal controller; traditional configuration space concepts; uncertainty; Markov processes; Motion analysis; Motion control; Motion planning; Optimal control; Orbital robotics; Robot motion; Robot sensing systems; Stochastic processes; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
ISSN :
1050-4729
Print_ISBN :
0-7803-1965-6
Type :
conf
DOI :
10.1109/ROBOT.1995.525719
Filename :
525719
Link To Document :
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