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AUTOMATICA
2007

Motion planning in uncertain environments with vision-like sensors

8 years 8 months ago
Motion planning in uncertain environments with vision-like sensors
In this work we present a methodology for intelligent path planning in an uncertain environment using vision like sensors, i.e., sensors that allow the sensing of the environment non-locally. Examples would include a mobile robot exploring an unknown terrain or a micro-UAV navigating in a cluttered urban environment. We show that the problem of path planning in an uncertain environment, under certain assumptions, can be posed as the adaptive optimal control of an uncertain Markov decision process, characterized by a known, control dependent system, and an unknown, control independent environment. The strategy for path planning then reduces to computing the control policy based on the current estimate of the environment, also known as the “certainty equivalence” principle in the adaptive control literature. Our methodology allows the inclusion of vision like sensors into the problem formulation, which empirical evidence suggests, accelerates the convergence of the planning algorith...
Suman Chakravorty, John L. Junkins
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2007
Where AUTOMATICA
Authors Suman Chakravorty, John L. Junkins
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