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Robot Motion Planning in Dynamic Uncertain Environments

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Abstract:

In the real world, mobile robots often operate in dynamic and uncertain environments. Therefore, it is necessary to develop a motion planner capable of real-time planning that also addresses uncertainty concerns. In this paper, a new algorithm, Dynamic AO* (DAO*), is developed for navigation tasks of mobile robots. DAO* not only performs a good anytime behavior and offers a fast replanning framework, but also considers the motion uncertainty. Moreover, by incorporating DAO* with D* Lite, a new planning architecture, DDAO*, is represented to efficiently search in large state spaces. Finally, simulations and experiments are shown to verify the efficiency of the proposed algorithms.

Keywords: ANYTIME PLANNING; MARKOV DECISION PROCESS; MOBILE ROBOT; NAVIGATION; POMDP

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918611X563337

Affiliations: 1: Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei 10617, Taiwan, ROC 2: Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei 10617, Taiwan, ROC;, Email: hanpang@ntu.edu.tw

Publication date: April 1, 2011

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