Coordination of Multiple Control Schemes for Mobile Robot Navigation on the Basis of the Generalized Stochastic Petri-Nets
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Moon, Chang-bae | - |
dc.contributor.author | Chung, Woojin | - |
dc.date.accessioned | 2021-09-07T00:12:45Z | - |
dc.date.available | 2021-09-07T00:12:45Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2012 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/109428 | - |
dc.description.abstract | There have been two major streams of research for the motion control of mobile robots: model-based deliberate control and sensor-based reactive control. Since the two schemes have complementary advantages and disadvantages, each cannot completely replace the other. There are a variety of environmental conditions that affect the performance of navigation. The motivation of this study is that multiple motion control schemes are required to survive in dynamic real environments. In this paper, we exploit two discrete motion controllers for mobile robots. One is the deliberate trajectory tracking controller and the other is the reactive dynamic window approach. We propose the selective coordination of two controllers on the basis of the generalized stochastic Petri net (GSPN) framework. The major scope of this paper is to clarify the advantage of the proposed controller based on the coordination of multiple controllers from the results of quantitative performance comparison among motion controllers. For quantitative comparison, both simulations and experiments in dynamic environments were carried out. In addition, it is shown that navigation experiences are accumulated in the GSPN formalism. The performance of navigation service can be significantly improved owing to the automatically stored experiences. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2012 | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | TAYLOR & FRANCIS LTD | - |
dc.subject | INDOOR SERVICE ROBOTS | - |
dc.subject | LOCALIZATION | - |
dc.subject | AVOIDANCE | - |
dc.subject | DESIGN | - |
dc.title | Coordination of Multiple Control Schemes for Mobile Robot Navigation on the Basis of the Generalized Stochastic Petri-Nets | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Woojin | - |
dc.identifier.doi | 10.1163/156855311X617515 | - |
dc.identifier.scopusid | 2-s2.0-84858233192 | - |
dc.identifier.wosid | 000300739200008 | - |
dc.identifier.bibliographicCitation | ADVANCED ROBOTICS, v.26, no.5-6, pp.581 - 603 | - |
dc.relation.isPartOf | ADVANCED ROBOTICS | - |
dc.citation.title | ADVANCED ROBOTICS | - |
dc.citation.volume | 26 | - |
dc.citation.number | 5-6 | - |
dc.citation.startPage | 581 | - |
dc.citation.endPage | 603 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | INDOOR SERVICE ROBOTS | - |
dc.subject.keywordPlus | LOCALIZATION | - |
dc.subject.keywordPlus | AVOIDANCE | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordAuthor | Mobile robot | - |
dc.subject.keywordAuthor | autonomous navigation | - |
dc.subject.keywordAuthor | motion control | - |
dc.subject.keywordAuthor | hybrid control systems | - |
dc.subject.keywordAuthor | generalized stochastic Petri nets | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.