Coordination of multiple control schemes for mobile robot navigation on the basis of the generalized stochastic Petri-nets

Chang Bae Moon, Woojin Chung

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


There have been two major streams of research for the motion control of mobile robots: model-based deliberate control and sensor-based reactive control. Since the two schemes have complementary advantages and disadvantages, each cannot completely replace the other. There are a variety of environmental conditions that affect the performance of navigation. The motivation of this study is that multiple motion control schemes are required to survive in dynamic real environments. In this paper, we exploit two discrete motion controllers for mobile robots. One is the deliberate trajectory tracking controller and the other is the reactive dynamic window approach. We propose the selective coordination of two controllers on the basis of the generalized stochastic Petri net (GSPN) framework. The major scope of this paper is to clarify the advantage of the proposed controller based on the coordination of multiple controllers from the results of quantitative performance comparison among motion controllers. For quantitative comparison, both simulations and experiments in dynamic environments were carried out. In addition, it is shown that navigation experiences are accumulated in the GSPN formalism. The performance of navigation service can be significantly improved owing to the automatically stored experiences.

Original languageEnglish
Pages (from-to)581-603
Number of pages23
JournalAdvanced Robotics
Issue number5-6
Publication statusPublished - 2012


  • Mobile robot
  • autonomous navigation
  • generalized stochastic Petri nets
  • hybrid control systems
  • motion control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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