Path Mapping and Planning with Partially known Paths using Hierarchical State Machine for Service Robot
Publication Type:Conference Paper
Source:3rd International Conference on Robot Intelligence Technology and Application 2014 (RiTA), FIRA 2014, Springer International Publishing, Beijing, China (2014)
Keywords:Hierarchical state machine, Mobile robots, Navigation System, Path Mapping, Path Planning, Service robots
Path mapping is a very essential part of a mobile robot navigation system. In this work, a novel technique to map and plan path for a mobile service robot without any vision aids in indoor environment using hierarchical state machine with partially known paths is proposed. The known paths are taught to a robot using Learning by Demonstration technique (LfD). The first phase of the algorithm is to map the paths as a hierarchical state machine using the partially known paths. Second phase is to plan the path given the source and destination. The algorithm is implemented and tested using a 2D simulation environment platform, Player/Stage.
Cite this Research Publication
Related Research Publications
- Learning from demonstration with state based obstacle avoidance for mobile service robots
- Fuzzy Support Vector Machine-based Multi-agent Optimal Path Planning Approach to Robotics Environment.
- Robot assisted wireless sensor network for monitoring and detection of explosives in indoor environment
- A priority based exploration algorithm for path planning of an unmanned ground vehicle
- Vision based robot navigation for disaster scenarios