Autonomous navigation of mobile robots using optimal control of finite state automata

Goutham Mallapragada, Ishanu Chattopadhyay, Asok Ray

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Pages2400-2405
Number of pages6
StatePublished - Dec 1 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Fingerprint Dive into the research topics of 'Autonomous navigation of mobile robots using optimal control of finite state automata'. Together they form a unique fingerprint.

  • Cite this

    Mallapragada, G., Chattopadhyay, I., & Ray, A. (2006). Autonomous navigation of mobile robots using optimal control of finite state automata. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 2400-2405). [4177434] (Proceedings of the IEEE Conference on Decision and Control).