DocumentCode :
2471874
Title :
Autonomous Navigation of Mobile Robots Using Optimal Control of Finite State Automata
Author :
Mallapragada, Goutham ; Chattopadhyay, Ishanu ; Ray, Asok
Author_Institution :
Dept. of Mech. Eng., Pennsylvania State Univ.
fYear :
2006
fDate :
13-15 Dec. 2006
Firstpage :
2400
Lastpage :
2405
Abstract :
This paper presents a novel approach to autonomous intelligent navigation of mobile robotic platforms, which is based on the concept of language-theoretic discrete-event supervisory control. The proposed algorithm combines real-time sensor data and model-based information on motion dynamics into a probabilistic finite state automaton model to dynamically compute a time-varying supervisory algorithm. The performance and robustness of the autonomous intelligent navigation algorithm have been experimentally validated on Segway RMP robotic platforms
Keywords :
discrete event systems; finite automata; mobile robots; motion control; navigation; optimal control; robot dynamics; time-varying systems; autonomous intelligent navigation; discrete event supervisory control; finite state automata; language-theoretic discrete-event supervisory control; mobile robots; motion dynamics; obstacle avoidance; optimal control; probabilistic finite state automaton model; robot navigation; time-varying supervisory algorithm; Automata; Intelligent robots; Intelligent sensors; Mobile robots; Navigation; Optimal control; Robot sensing systems; Robotics and automation; Robustness; Supervisory control; Discrete Event Supervisory Control; Language Measure; Obstacle Avoidance; Robot Navigation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
Type :
conf
DOI :
10.1109/CDC.2006.377302
Filename :
4177434
Link To Document :
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