Experimental research of navigation behavior selection using Generalized Stochastic Petri Nets (GSPN) for a tour-guide robot

Gunhee Kim, Woo Jin Chung, Sung Kee Park, Munsang Kim

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

8 Citations (Scopus)

Abstract

This paper proposes a formal selection framework of multiple navigation behaviors for a service robot. In our approach, modeling, analysis, and performance evaluation are carried out based on the Generalized Stochastic Petri Nets (GSPN). By adopting probabilistic approach, our framework helps the robot to select the most desirable navigation behavior in run time according to environmental conditions. Moreover, after a mission, the robot evaluates prior navigation performance from accumulated data, and uses the results for the improvement of future operations. Also, GSPN has several advantages over classic automata or direct use of Markov Process. The basic ideas of the framework were introduced in our previous work [1]. Thus, this paper focuses on experimental verification by implementing the framework into the guide robot Jinny. We conduct the experiments about real guidance tasks with visitors in the National Science Museum of Korea. The results show that the proposed strategy is useful to select an appropriate navigation behavior in a dynamic space.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1392-1398
Number of pages7
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2005 Aug 22005 Aug 6

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period05/8/205/8/6

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Keywords

  • A guide robot
  • Behavior selection
  • Generalized stochastic petri nets
  • Monte-carlo localization
  • Robot navigation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Kim, G., Chung, W. J., Park, S. K., & Kim, M. (2005). Experimental research of navigation behavior selection using Generalized Stochastic Petri Nets (GSPN) for a tour-guide robot. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1392-1398). [1545174] https://doi.org/10.1109/IROS.2005.1545174