Accession Number:

ADA621589

Title:

Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach

Descriptive Note:

Journal article

Corporate Author:

PENNSYLVANIA STATE UNIV STATE COLLEGE DEPT OF MECHANICAL AND NUCLEAR ENGINEERING

Personal Author(s):

• Jha, Devesh K.
• Li, Yue
• Wettergren, Thomas A.
• Ray, Asok

Report Date:

2015-03-01

Pagination or Media Count:

8.0

Abstract:

This paper addresses the problem of goal-directed robot path planning in the presence of uncertainties that are induced by bounded environmental disturbances and actuation errors. The offline infinite-horizon optimal plan is locally updated by online finite-horizon adaptive replanning upon observation of unexpected events e.g., detection of unanticipated obstacles. The underlying theory is developed as an extension of a grid-based path planning algorithm, called v , which was formulated in the framework of probabilistic finite state automata PFSA and language measure from a control-theoretic perspective. The proposed concept has been validated on a simulation test bed that is constructed upon a model of typical autonomous underwater vehicles AUVs in the presence of uncertainties.

Descriptors:

• *ADAPTIVE SYSTEMS
• *ROBOTS
• *SELF OPERATION
• *UNDERWATER NAVIGATION
• *UNDERWATER VEHICLES
• ALGORITHMS
• COLLISION AVOIDANCE
• COMPUTERIZED SIMULATION
• DECISION MAKING
• GRIDS
• MARKOV PROCESSES
• MATRICES(MATHEMATICS)
• OCEAN CURRENTS
• OCEAN MODELS
• OPTIMIZATION
• PROBABILITY
• SEMANTICS
• STOCHASTIC CONTROL
• TEST BEDS
• UNCERTAINTY
• UNMANNED

Subject Categories:

• Statistics and Probability
• Cybernetics
• Underwater and Marine Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE