This paper addresses the problem of goal-directed robot path planning in the presence of uncertainties that are induced by bounded environmental disturbances and actuation errors. The offline infinite-horizon optimal plan is locally updated by online finite-horizon adaptive replanning upon observation of unexpected events (e.g., detection of unanticipated obstacles). The underlying theory is developed as an extension of a grid-based path planning algorithm, called , which was formulated in the framework of probabilistic finite state automata (PFSA) and language measure from a control-theoretic perspective. The proposed concept has been validated on a simulation test bed that is constructed upon a model of typical autonomous underwater vehicles (AUVs) in the presence of uncertainties.
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March 2015
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Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach
Devesh K. Jha,
Devesh K. Jha
Mechanical & Nuclear Engineering Department
e-mail: dkj5042@psu.edu
Pennsylvania State University
,University Park, PA 16802
e-mail: dkj5042@psu.edu
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Yue Li,
Yue Li
Mechanical & Nuclear Engineering Department
e-mail: yol5214@psu.edu
Pennsylvania State University
,University Park, PA 16802
e-mail: yol5214@psu.edu
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Thomas A. Wettergren,
Thomas A. Wettergren
Naval Undersea Warfare Center
,Newport, RI 02841
;Mechanical & Nuclear Engineering Department
e-mail: t.a.wettergren@ieee.org
Pennsylvania State University
,University Park, PA 16802
e-mail: t.a.wettergren@ieee.org
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Asok Ray
Asok Ray
Fellow ASME
Mechanical & Nuclear Engineering Department
e-mail: axr2@psu.edu
Mechanical & Nuclear Engineering Department
Pennsylvania State University
,University Park, PA 16802
e-mail: axr2@psu.edu
Search for other works by this author on:
Devesh K. Jha
Mechanical & Nuclear Engineering Department
e-mail: dkj5042@psu.edu
Pennsylvania State University
,University Park, PA 16802
e-mail: dkj5042@psu.edu
Yue Li
Mechanical & Nuclear Engineering Department
e-mail: yol5214@psu.edu
Pennsylvania State University
,University Park, PA 16802
e-mail: yol5214@psu.edu
Thomas A. Wettergren
Naval Undersea Warfare Center
,Newport, RI 02841
;Mechanical & Nuclear Engineering Department
e-mail: t.a.wettergren@ieee.org
Pennsylvania State University
,University Park, PA 16802
e-mail: t.a.wettergren@ieee.org
Asok Ray
Fellow ASME
Mechanical & Nuclear Engineering Department
e-mail: axr2@psu.edu
Mechanical & Nuclear Engineering Department
Pennsylvania State University
,University Park, PA 16802
e-mail: axr2@psu.edu
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 23, 2014; final manuscript received May 31, 2014; published online October 21, 2014. Assoc. Editor: Jongeun Choi. This material is declared a work of the U.S. Government and is not subject to copyright protection in the United States. Approved for public release; distribution is unlimited.
J. Dyn. Sys., Meas., Control. Mar 2015, 137(3): 034501 (7 pages)
Published Online: October 21, 2014
Article history
Received:
January 23, 2014
Revision Received:
May 31, 2014
Citation
Jha, D. K., Li, Y., Wettergren, T. A., and Ray, A. (October 21, 2014). "Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach." ASME. J. Dyn. Sys., Meas., Control. March 2015; 137(3): 034501. https://doi.org/10.1115/1.4027876
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