Redesign and analysis of GSPN-based navigation selection framework for an indoor mobile service robot

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

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

Abstract

In this paper, we carry out the experimental comparison between the Tracking and AutMove behavior. The experimental results show that the two navigation schemes have appropriate environments. Therefore, we redesign the navigation framework proposed method in [1]. As pointed out in [1], the main advantage of the GSPN is that the numbers of places and transitions only increase linearly as the system complexity increase, whereas the number of states in the MPs increase exponentially. The redesigned model in this paper, EMC (Embedded Markov Chain) matrix has 36x36 dimensions. The system modeling using the GSPN is quite useful, even though the state-space increases exponentially. Also, the performance analysis can be done automatically using mathematical formulation of the GSPN. The experimental results show that the selection between the Tracking and Automove by added components increases the navigation performance.

Original languageEnglish
Title of host publication39th International Symposium on Robotics, ISR 2008
Pages973-978
Number of pages6
Publication statusPublished - 2008 Dec 1
Event39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 152008 Oct 17

Other

Other39th International Symposium on Robotics, ISR 2008
CountryKorea, Republic of
CitySeoul
Period08/10/1508/10/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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  • Cite this

    Moon, C. B., Chung, W. J., & Song, J-B. (2008). Redesign and analysis of GSPN-based navigation selection framework for an indoor mobile service robot. In 39th International Symposium on Robotics, ISR 2008 (pp. 973-978)