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Path Mapping and Planning with Partially Known Paths Using Hierarchical State Machine for Service Robot

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Robot Intelligence Technology and Applications 3

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 345))

Abstract

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.

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Correspondence to A. A. Nippun Kumaar .

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Kumaar, A.A.N., Sudarshan, T.S.B. (2015). Path Mapping and Planning with Partially Known Paths Using Hierarchical State Machine for Service Robot. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_5

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  • DOI: https://doi.org/10.1007/978-3-319-16841-8_5

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-16840-1

  • Online ISBN: 978-3-319-16841-8

  • eBook Packages: EngineeringEngineering (R0)

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