Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments

Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments

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This paper examines path planning strategies in partially unknown dynamic environemnts and introduces an approach to learning innovative routes. The approach is verified against shortest path planning with a distance transform algorithm, local and global replanning and suboptimal route following in...

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Main Authors: Kristo Heero, Alvo Aabloo, Maarja Kruusmaa
Format: Article
Language:English
Published: SAGE Publishing 2005-09-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/5787
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spelling doaj-8765dd7c3ffd4015a98dbac9cc770e392020-11-25T03:32:43ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142005-09-01210.5772/578710.5772_5787Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown EnvironmentsKristo HeeroAlvo AablooMaarja KruusmaaThis paper examines path planning strategies in partially unknown dynamic environemnts and introduces an approach to learning innovative routes. The approach is verified against shortest path planning with a distance transform algorithm, local and global replanning and suboptimal route following in unknown, partially unknown, static and dynamic environments. We show that the learned routes are more reliable and when traversed repeatedly the robot's behaviour becomes more predictable. The test results also suggest that the robot's behaviour depends on knowledge about the environemnt but not about the path planning strategy used.https://doi.org/10.5772/5787
collection DOAJ
language English
format Article
sources DOAJ
author Kristo Heero
Alvo Aabloo
Maarja Kruusmaa
spellingShingle Kristo Heero
Alvo Aabloo
Maarja Kruusmaa
Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments
International Journal of Advanced Robotic Systems
author_facet Kristo Heero
Alvo Aabloo
Maarja Kruusmaa
author_sort Kristo Heero
title Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments
title_short Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments
title_full Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments
title_fullStr Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments
title_full_unstemmed Learning Innovative Routes for Mobile Robots in Dynamic Partially Unknown Environments
title_sort learning innovative routes for mobile robots in dynamic partially unknown environments
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2005-09-01
description This paper examines path planning strategies in partially unknown dynamic environemnts and introduces an approach to learning innovative routes. The approach is verified against shortest path planning with a distance transform algorithm, local and global replanning and suboptimal route following in unknown, partially unknown, static and dynamic environments. We show that the learned routes are more reliable and when traversed repeatedly the robot's behaviour becomes more predictable. The test results also suggest that the robot's behaviour depends on knowledge about the environemnt but not about the path planning strategy used.
url https://doi.org/10.5772/5787
work_keys_str_mv AT kristoheero learninginnovativeroutesformobilerobotsindynamicpartiallyunknownenvironments
AT alvoaabloo learninginnovativeroutesformobilerobotsindynamicpartiallyunknownenvironments
AT maarjakruusmaa learninginnovativeroutesformobilerobotsindynamicpartiallyunknownenvironments
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