Implementation of Multi -Goal Motion Planning Under Uncertainty on a Mobile Robot

Multi-goal motion planning under motion and sensor uncertainty is the problem of finding a reliable policy for visiting a set of goal points. In this paper, the problem is formulated as a formidable traveling salesman problem in the belief space. To solve this intractable problem, we propose an algorithm to construct a TSP-FIRM graph which is based on the feedback-based information roadmap (FIRM) algorithm. Also, two algorithms are proposed for the online planning of the obtained policy in the offline mode and overcoming changes in the map of the environment. Finally, we apply the algorithms on a physical nonholonomic mobile robot in the presence of challenging situations like the discrepancy between the real and computation model, map updating and kidnapping.