TY - GEN
T1 - Autonomous navigation of mobile robots using optimal control of finite state automata
AU - Mallapragada, Goutham
AU - Chattopadhyay, Ishanu
AU - Ray, Asok
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Discrete event supervisory control
KW - Language measure
KW - Obstacle avoidance
KW - Robot navigation
UR - http://www.scopus.com/inward/record.url?scp=39649098877&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=39649098877&partnerID=8YFLogxK
U2 - 10.1109/cdc.2006.377302
DO - 10.1109/cdc.2006.377302
M3 - Conference contribution
AN - SCOPUS:39649098877
SN - 1424401712
SN - 9781424401710
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2400
EP - 2405
BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
T2 - 45th IEEE Conference on Decision and Control 2006, CDC
Y2 - 13 December 2006 through 15 December 2006
ER -