Title :
Navigation in a hazardous environment with distributed shelters
Author :
Sharma, Rajeev ; Mount, David M. ; Aloimonos, Yiannis
Author_Institution :
Comput. Vision Lab., Maryland Univ., College Park, MD, USA
Abstract :
The problem of efficient path planning for a point robot in a partially known dynamic environment is considered. The static known part of the environment consists of point shelters distributed in planar terrain, and the dynamic, unknown part is abstracted in the form of alarms that cause the robot to leave its current (pre-planned) path and divert to the nearest shelter. A probabilistic analysis of the expected times for the dynamic paths generated when the alarms follow a Poisson distribution with parameter λ is given. A case study with three shelters serves to illustrate the dependence of the expected travel times on λ for two alternate static paths. Two different strategies are presented for the general case of n shelters and shown to be superior for different ranges of values of the alarm rate λ (very low and very high values, respectively)
Keywords :
navigation; planning (artificial intelligence); probability; robots; Poisson distribution; distributed shelters; hazardous environment; minimax; navigation; path planning; planar terrain; point robot; probabilistic analysis; Computer science; Computer vision; Educational institutions; Mobile robots; Motion planning; Navigation; Path planning; Robot sensing systems; Robot vision systems; Robotics and automation;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169798