Modeling and Analysis of the Obstacle-Avoidance Strategies for a Mobile Robot in a Dynamic Environment
Joint Authors
Wang, Rui
Wang, Ming
Guan, Yong
Li, Xiaojuan
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-25
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Obstacle avoidance is a key performance of mobile robots.
However, its experimental verification is rather difficult, due to the probabilistic behaviors of both the robots and the obstacles.
This paper presents the Markov Decision Process based probabilistic formal models for three obstacle-avoidance strategies of a mobile robot in an uncertain dynamic environment.
The models are employed to make analyses in PRISM, and the correctness of the analysis results is verified by MATLAB simulations.
Finally, the minimum time and the energy consumption are determined by further analyses in PRISM, which prove to be useful in finding the optimal strategy.
The present work provides a foundation for the probabilistic formal verification of more complicated obstacle-avoidance strategies.
American Psychological Association (APA)
Wang, Rui& Wang, Ming& Guan, Yong& Li, Xiaojuan. 2015. Modeling and Analysis of the Obstacle-Avoidance Strategies for a Mobile Robot in a Dynamic Environment. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1074857
Modern Language Association (MLA)
Wang, Rui…[et al.]. Modeling and Analysis of the Obstacle-Avoidance Strategies for a Mobile Robot in a Dynamic Environment. Mathematical Problems in Engineering No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1074857
American Medical Association (AMA)
Wang, Rui& Wang, Ming& Guan, Yong& Li, Xiaojuan. Modeling and Analysis of the Obstacle-Avoidance Strategies for a Mobile Robot in a Dynamic Environment. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1074857
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074857