Publication Type : Conference Proceedings
Publisher : 3rd International Conference on Robot Intelligence Technology and Application 2014 (RiTA), FIRA 2014, Springer International Publishing
Source : 3rd International Conference on Robot Intelligence Technology and Application 2014 (RiTA), FIRA 2014, Springer International Publishing, Beijing, China (2014)
Url : http://link.springer.com/chapter/10.1007%2F978-3-319-16841-8_5
Keywords : Hierarchical state machine, Mobile robots, Navigation System, Path Mapping, Path Planning, Service robots
Campus : Bengaluru
School : Department of Computer Science and Engineering, School of Engineering
Department : Computer Science
Year : 2014
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.
Cite this Research Publication : Nippun Kumaar A A and Sudarshan, T. S. B., “Path Mapping and Planning with Partially known Paths using Hierarchical State Machine for Service Robot”, in 3rd International Conference on Robot Intelligence Technology and Application 2014 (RiTA), FIRA 2014, Beijing, China, 2014.