로봇학회논문지 (The Journal of Korea Robotics Society)
- 제1권2호
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- Pages.107-116
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- 2006
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- 1975-6291(pISSN)
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- 2287-3961(eISSN)
이동 로봇의 강인 행동 계획 방법
A Robust Behavior Planning technique for Mobile Robots
- 발행 : 2006.12.31
초록
We propose a planning algorithm to automatically generate a robust behavior plan (RBP) with which mobile robots can achieve their task goal from any initial states under dynamically changing environments. For this, task description space (TDS) is formulated, where a redundant task configuration space and simulation model of physical space are employed. Successful task episodes are collected, where