Design of navigation behaviors and the selection framework with generalized stochastic petri nets toward dependable navigation of a mobile robot

Chang Bae Moon, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

There have been two major streams for the motion control of mobile robots. The first is the model-based deliberate control and the second is the sensor-based reactive control. Since two schemes have complementary advantages and disadvantages, one cannot completely replace the other. There are a variety of environmental conditions which affect the navigation performances. The main idea of this paper is to design discrete navigation behaviors and to integrate behaviors by an appropriate selection framework. In this paper, we propose a behavior selection framework using the GSPN (Generalized Stochastic Petri Nets). We have designed two navigation behaviors which show completely different performances. In order to define behavior selection criteria, two kinds of navigation statuses are defined to monitor navigation performances of the robot. The proposed navigation strategy is simulated using the open source simulator Player/Stage to investigate the performances in a variety of conditions. Through the simulations, it was made clear that different behaviors show remarkably different performances. Moreover, the average navigation time of the proposed behavior selection framework is significantly decreased than that of any single navigation scheme DWA or tracking.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2989-2994
Number of pages6
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

Fingerprint

Petri nets
Mobile robots
Navigation
Motion control
Simulators
Robots
Sensors

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Design of navigation behaviors and the selection framework with generalized stochastic petri nets toward dependable navigation of a mobile robot. / Moon, Chang Bae; Chung, Woo Jin.

Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 2989-2994 5509345.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Moon, CB & Chung, WJ 2010, Design of navigation behaviors and the selection framework with generalized stochastic petri nets toward dependable navigation of a mobile robot. in Proceedings - IEEE International Conference on Robotics and Automation., 5509345, pp. 2989-2994, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509345
Moon, Chang Bae ; Chung, Woo Jin. / Design of navigation behaviors and the selection framework with generalized stochastic petri nets toward dependable navigation of a mobile robot. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 2989-2994
@inproceedings{abd5689f4876443bb7a3478aa0c84a6a,
title = "Design of navigation behaviors and the selection framework with generalized stochastic petri nets toward dependable navigation of a mobile robot",
abstract = "There have been two major streams for the motion control of mobile robots. The first is the model-based deliberate control and the second is the sensor-based reactive control. Since two schemes have complementary advantages and disadvantages, one cannot completely replace the other. There are a variety of environmental conditions which affect the navigation performances. The main idea of this paper is to design discrete navigation behaviors and to integrate behaviors by an appropriate selection framework. In this paper, we propose a behavior selection framework using the GSPN (Generalized Stochastic Petri Nets). We have designed two navigation behaviors which show completely different performances. In order to define behavior selection criteria, two kinds of navigation statuses are defined to monitor navigation performances of the robot. The proposed navigation strategy is simulated using the open source simulator Player/Stage to investigate the performances in a variety of conditions. Through the simulations, it was made clear that different behaviors show remarkably different performances. Moreover, the average navigation time of the proposed behavior selection framework is significantly decreased than that of any single navigation scheme DWA or tracking.",
author = "Moon, {Chang Bae} and Chung, {Woo Jin}",
year = "2010",
month = "8",
day = "26",
doi = "10.1109/ROBOT.2010.5509345",
language = "English",
isbn = "9781424450381",
pages = "2989--2994",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Design of navigation behaviors and the selection framework with generalized stochastic petri nets toward dependable navigation of a mobile robot

AU - Moon, Chang Bae

AU - Chung, Woo Jin

PY - 2010/8/26

Y1 - 2010/8/26

N2 - There have been two major streams for the motion control of mobile robots. The first is the model-based deliberate control and the second is the sensor-based reactive control. Since two schemes have complementary advantages and disadvantages, one cannot completely replace the other. There are a variety of environmental conditions which affect the navigation performances. The main idea of this paper is to design discrete navigation behaviors and to integrate behaviors by an appropriate selection framework. In this paper, we propose a behavior selection framework using the GSPN (Generalized Stochastic Petri Nets). We have designed two navigation behaviors which show completely different performances. In order to define behavior selection criteria, two kinds of navigation statuses are defined to monitor navigation performances of the robot. The proposed navigation strategy is simulated using the open source simulator Player/Stage to investigate the performances in a variety of conditions. Through the simulations, it was made clear that different behaviors show remarkably different performances. Moreover, the average navigation time of the proposed behavior selection framework is significantly decreased than that of any single navigation scheme DWA or tracking.

AB - There have been two major streams for the motion control of mobile robots. The first is the model-based deliberate control and the second is the sensor-based reactive control. Since two schemes have complementary advantages and disadvantages, one cannot completely replace the other. There are a variety of environmental conditions which affect the navigation performances. The main idea of this paper is to design discrete navigation behaviors and to integrate behaviors by an appropriate selection framework. In this paper, we propose a behavior selection framework using the GSPN (Generalized Stochastic Petri Nets). We have designed two navigation behaviors which show completely different performances. In order to define behavior selection criteria, two kinds of navigation statuses are defined to monitor navigation performances of the robot. The proposed navigation strategy is simulated using the open source simulator Player/Stage to investigate the performances in a variety of conditions. Through the simulations, it was made clear that different behaviors show remarkably different performances. Moreover, the average navigation time of the proposed behavior selection framework is significantly decreased than that of any single navigation scheme DWA or tracking.

UR - http://www.scopus.com/inward/record.url?scp=77955814269&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77955814269&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2010.5509345

DO - 10.1109/ROBOT.2010.5509345

M3 - Conference contribution

SN - 9781424450381

SP - 2989

EP - 2994

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -