A Petri net based approach for multi-robot path planning

作者：Kloetzer Marius; Mahulea Cristian^*

来源：Discrete Event Dynamic Systems, 2014, 24(4): 417-445.

DOI：10.1007/s10626-013-0162-6

• Discrete event systems
• Abstractions
• Mobile robots
• Hybrid systems
• Algorithms

This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications.

• 出版日期2014-12