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.
Nippun Kumaar A A and Sudarshan, T. S. B., “Path Mapping and Planning with Partially known Paths using Hierarchical State Machine for Service Robot”, in 3rd International Conference on Robot Intelligence Technology and Application 2014 (RiTA), FIRA 2014, Beijing, China, 2014.