Title :
Closed loop motion plans for mobile robots
Author :
Esposito, Joel M. ; Kumar, Vijay
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
We discuss a game theoretic approach to the design of closed loop feedback laws to solve sensor based motion planning problems for mobile robots. Our approach provides a framework for dealing with environmental uncertainty, and, by explicitly accounting for the sensor dynamics, a formal way of combining exploratory and goal directed motions. We focus on methods of devising optimal feedback laws, using finite dimensional parametrizations, under the worst case uncertainty for several illustrative examples
Keywords :
closed loop systems; feedback; game theory; mobile robots; path planning; uncertainty handling; closed loop systems; feedback; game theory; mobile robots; motion planning; parametrization; uncertainty handling; Feedback loop; Game theory; Mechanical engineering; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot kinematics; Robot sensing systems; Uncertainty;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846448
