GSPN (Generalized Stochastic Petri Nets) based navigation behavior control of an indoor service robot

Chang Bae Moon, Woo Jin Chung, Jae-Bok Song

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


In this paper, we propose a behavior selection scheme between a reactive motion control combined with a global path planning algorithm and combined with a trajectory tracking algorithm. We design two navigation behaviors. One is a plan-based reactive navigation behavior, the AutoMove reactive, which exploits the conventional Dynamic Window Approach (DWA) as the reactive motion controller. The other behavior is AutoMove tracking, which exploits trajectory tracking controller. Two navigation schemes are based on different navigation assumptions. As a result, the two schemes have completely different advantages and disadvantages. We selected the appropriate navigation behavior based on the Generalized Stochastic Petri Nets (GSPN) discrete control framework. The main problem in switching between the behaviors is as follows: the determination of when the behavior should be switched and the method for determining the switching behavior conditions. One of the major drawbacks of DWA is the local minimum problem. If a robot falls into the local minimum, the navigation performance decreases degrades greatly. Therefore, a robot should switch its navigation scheme when it detects the local minimum. Experimental results showed that the proposed model was more effective than that based on the using single navigation technique. The AutoMove reactive is mostly selected when obstacles are moving around the robot. The AutoMove reactive local minimum situation due to dynamic obstacles or static obstacles was suitably managed using the GSPN. The AutoMove tracking showed reliable tracking when the robot entered a narrow corridor. Moreover, AutoMove tracking can recover from the AutoMove reactive local trap situation. The resultant navigation performance improved from the performance achieved with the single navigation behavior.

Original languageEnglish
Title of host publicationProceedings of 2009 7th Asian Control Conference, ASCC 2009
Number of pages6
Publication statusPublished - 2009 Dec 11
Event2009 7th Asian Control Conference, ASCC 2009 - Hong Kong, China
Duration: 2009 Aug 272009 Aug 29


Other2009 7th Asian Control Conference, ASCC 2009
CityHong Kong


ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

Cite this

Moon, C. B., Chung, W. J., & Song, J-B. (2009). GSPN (Generalized Stochastic Petri Nets) based navigation behavior control of an indoor service robot. In Proceedings of 2009 7th Asian Control Conference, ASCC 2009 (pp. 1444-1449). [5276355]