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Global level path planning for mobile robots in dynamic environments
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
2003 (English)In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 38, no 1, p. 55-83Article in journal (Refereed) Published
Abstract [en]

This paper presents a self- adapting approach to global level path planning in dynamic environments. The aim of this work is to minimize risk and delays in possible applications of mobile robots ( e. g., in industrial processes). We introduce a hybrid system that uses case-based reasoning as well as grid-based maps for decision-making. Maps are used to suggest several alternative paths between specific start and goal point. The casebase stores these solutions and remembers their characteristics. Environment representation and casebase design are discussed. To solve the problem of exploration vs. exploitation, a decision-making strategy is proposed that is based on the irreversibility of decisions. Forgetting strategies are discussed and evaluated in the context of case-based maintenance. The adaptability of the system is evaluated in a domain based on real sensor data with simulated occupancy probabilities. Forgetting strategies and decision-making strategies are evaluated in simulated environments. Experiments show that a robot is able to adapt in dynamic environments and can learn to use paths that are less risky to follow.

Place, publisher, year, edition, pages
Dordrecht: Kluwer Academic Publishers, 2003. Vol. 38, no 1, p. 55-83
Keywords [en]
path planning, dynamic environment, robot learning, case-based reasoning
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hh:diva-18742DOI: 10.1023/A:1026296011183ISI: 000186129300004Scopus ID: 2-s2.0-0242720624OAI: oai:DiVA.org:hh-18742DiVA, id: diva2:540863
Available from: 2012-07-12 Created: 2012-06-25 Last updated: 2017-12-07Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf