Model-based description of environment interaction for mobile robots

Giuseppe Borghi; Carlo Ferrari; Enrico Pagello; Marco Vianello

doi:10.1117/12.335705

8 January 1999 Model-based description of environment interaction for mobile robots

Giuseppe Borghi, Carlo Ferrari, Enrico Pagello, Marco Vianello

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335705
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

We consider a mobile robot that attempts to accomplish a task by reaching a given goal, and interacts with its environment through a finite set of actions and observations. The interaction between robot and environment is modeled by Partially Observable Markov Decision Processes (POMDP). The robot takes its decisions in presence of uncertainty about the current state, by maximizing its reward gained during interactions with the environment. It is able to self-locate into the environment by collecting actions and perception histories during the navigation. To make the state estimation more reliable, we introduce an additional information in the model without adding new states and without discretizing the considered measures. Thus, we associate to the state transition probabilities also a continuous metric given through the mean and the variance of some significant sensor measurements suitable to be kept under continuous form, such as odometric measurements, showing that also such unreliable data can supply a great deal of information to the robot. The overall control system of the robot is structured as a two-levels layered architecture, where the low level implements several collision avoidance algorithms, while the upper level takes care of the navigation problem. In this paper, we concentrate on how to use POMDP models at the upper level.

Citation Download Citation

Giuseppe Borghi, Carlo Ferrari, Enrico Pagello, and Marco Vianello "Model-based description of environment interaction for mobile robots", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335705

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
12 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Sensors

Mobile robots

Navigation systems

Algorithm development

Collision avoidance

Computer simulations

Data modeling

Show All Keywords

Keywords/Phrases

Search In:

Publication Years