Control of mobile robots in unstructured environments using discrete event modeling

Rodney D. Hale; Mohd Rokonuzzaman; Raymond G. Gosine

doi:10.1117/12.369263

15 November 1999 Control of mobile robots in unstructured environments using discrete event modeling

Rodney D. Hale, Mohd Rokonuzzaman, Raymond G. Gosine

Proceedings Volume 3838, Mobile Robots XIV; (1999) https://doi.org/10.1117/12.369263
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

Unstructured environments pose significant challenges to the operation and control of mobile robots. Thorough task planning is often not possible due to the unpredictable nature of the workspace environment. For example, in underground mining environments, the operator generally does not have accurate global knowledge of the environment, making it difficult or impossible to provide the mobile robot with sufficient information to navigate successfully to a desired destination. The unpredictability of the environment makes realtime sensing and decision making an essential component of the mobile robot. The formalism of discrete event systems is well suited for modeling the internal and external asynchronous events associated with the navigation of a mobile robot. This work proposes the use of a hierarchical Petri net-based discrete event technique to model the sensing and control systems of mobile robots in unstructured environments. The discrete event model can be monitored to provide the operator with realtime progress information. The paper describes a simulated mobile robot in a 3D graphics environment which is controlled by a discrete event model in order to demonstrating the modeling of navigation in unstructured environments.

Citation Download Citation

Rodney D. Hale, Mohd Rokonuzzaman, and Raymond G. Gosine "Control of mobile robots in unstructured environments using discrete event modeling", Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); https://doi.org/10.1117/12.369263

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available