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

Volume

2

fYear

1997

fDate

12-15 Oct 1997

Firstpage

1239

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.638128

Filename

638128