대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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- Pages.181-183
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- 2006
추계적 페트리넷을 통한 동적 환경에서의 지능적인 환경정보의 갱신
Intelligent Update of Environment Model in Dynamic Environments through Generalized Stochastic Petri Net
- 발행 : 2006.10.27
초록
This paper proposes an intelligent decision framework for update of the environment model using GSPN(generalized stochastic petri nets). The GSPN has several advantages over direct use of the Markov Process. The modeling, analysis, and performance evaluation are conducted on the mathematical basis. By adopting the probabilistic approach, our decision framework helps the robot to decide the time to update the map. The robot navigates autonomously for a long time in dynamic environments. Experimental results show that the proposed scheme is useful for service robots which work semi-permanently and improves dependability of navigation in dynamic environments.