By Topic

Autonomous Navigation of Mobile Robots Using Optimal Control of Finite State Automata

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Mallapragada, G. ; Dept. of Mech. Eng., Pennsylvania State Univ. ; Chattopadhyay, I. ; Ray, A.

This paper presents a novel approach to autonomous intelligent navigation of mobile robotic platforms, which is based on the concept of language-theoretic discrete-event supervisory control. The proposed algorithm combines real-time sensor data and model-based information on motion dynamics into a probabilistic finite state automaton model to dynamically compute a time-varying supervisory algorithm. The performance and robustness of the autonomous intelligent navigation algorithm have been experimentally validated on Segway RMP robotic platforms

Published in:

Decision and Control, 2006 45th IEEE Conference on

Date of Conference:

13-15 Dec. 2006