Design of a state-action map for an omni-directional mobile walking support robot

This paper design of a state-action map for an omni-directional mobile walking support robot. The robot realizes the omni-directional movement through a differential drive control mode. The moving direction of the robot is according to the intention of the elderly. We define a state-action map to improve the control efficiency. We defined state space, action space and state transition matrix of the robot. The algorithm of state-action map is selected by dynamic programming algorithm so as to minimize actions of the robot from the current state to the goal state. We construct a simulation environment with Open Dynamics Engine (ODE) to verify the effect of the state-action map. The simulation results show that the robot moves along the predefined line, and the success rate of state transition is 100% in five trials.