TY - JOUR
T1 - V*
T2 - A robot path planning algorithm based on renormalised measure of probabilistic regular languages
AU - Chattopadhyay, Ishanu
AU - Mallapragada, Goutham
AU - Ray, Asok
N1 - Funding Information:
This work has been supported in part by the US Army Research Office under Grant No. W911NF-07-1-0376 and the Office of Naval Research under Grant No. N00014-08-1-380.
PY - 2009/5
Y1 - 2009/5
N2 - This article introduces a novel path planning algorithm, called , that reduces the problem of robot path planning to optimisation of a probabilistic finite state automaton. The -algorithm makes use of renormalised measure of regular languages to plan the optimal path for a specified goal. Although the underlying navigation model is probabilistic, the -algorithm yields path plans that can be executed in a deterministic setting with automated optimal trade-off between path length and robustness under dynamic uncertainties. The -algorithm has been experimentally validated on Segway Robotic Mobility Platforms in a laboratory environment.
AB - This article introduces a novel path planning algorithm, called , that reduces the problem of robot path planning to optimisation of a probabilistic finite state automaton. The -algorithm makes use of renormalised measure of regular languages to plan the optimal path for a specified goal. Although the underlying navigation model is probabilistic, the -algorithm yields path plans that can be executed in a deterministic setting with automated optimal trade-off between path length and robustness under dynamic uncertainties. The -algorithm has been experimentally validated on Segway Robotic Mobility Platforms in a laboratory environment.
UR - http://www.scopus.com/inward/record.url?scp=67651173056&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67651173056&partnerID=8YFLogxK
U2 - 10.1080/00207170802343196
DO - 10.1080/00207170802343196
M3 - Article
AN - SCOPUS:67651173056
SN - 0020-7179
VL - 82
SP - 849
EP - 867
JO - International Journal of Control
JF - International Journal of Control
IS - 5
ER -