Navigation of a mobile robot formulated in terms of discrete optimization problems

Harukazu Igarashi, Kiyoshi Ioi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The problem of navigation of an autonomous mobile robot has a great variety of solutions, depending on the premise conditions regarding the properties of the robot, the surrounding environment, and the user specifications. In support of a navigation scheme that can cope flexibly with this variety, this paper proposes a method that formulates the problem in terms of discrete optimization problems. In the proposed method, the problem of robot position/posture estimation from map and sensor data and the problem of deciding the action at each instant are formulated as separate discrete optimization problems. In the former, our approach is an approximation of the Markov localization algorithm. The proposed method is then applied to a navigation problem in a known environment with fixed obstacles, and the effectiveness and feasibility of the method are verified by simulation results.

Original languageEnglish
Pages (from-to)59-68
Number of pages10
JournalSystems and Computers in Japan
Volume34
Issue number6
DOIs
Publication statusPublished - 2003 Jun 15
Externally publishedYes

Fingerprint

Mobile robots
Navigation
Robots
Specifications
Sensors

Keywords

  • Autonomous mobile robot
  • Discrete optimization problem
  • Markov localization
  • Navigation
  • Trajectory planning

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Hardware and Architecture
  • Information Systems
  • Theoretical Computer Science

Cite this

Navigation of a mobile robot formulated in terms of discrete optimization problems. / Igarashi, Harukazu; Ioi, Kiyoshi.

In: Systems and Computers in Japan, Vol. 34, No. 6, 15.06.2003, p. 59-68.

Research output: Contribution to journalArticle

@article{4980a239c19f482f97078e0fd46a62f2,
title = "Navigation of a mobile robot formulated in terms of discrete optimization problems",
abstract = "The problem of navigation of an autonomous mobile robot has a great variety of solutions, depending on the premise conditions regarding the properties of the robot, the surrounding environment, and the user specifications. In support of a navigation scheme that can cope flexibly with this variety, this paper proposes a method that formulates the problem in terms of discrete optimization problems. In the proposed method, the problem of robot position/posture estimation from map and sensor data and the problem of deciding the action at each instant are formulated as separate discrete optimization problems. In the former, our approach is an approximation of the Markov localization algorithm. The proposed method is then applied to a navigation problem in a known environment with fixed obstacles, and the effectiveness and feasibility of the method are verified by simulation results.",
keywords = "Autonomous mobile robot, Discrete optimization problem, Markov localization, Navigation, Trajectory planning",
author = "Harukazu Igarashi and Kiyoshi Ioi",
year = "2003",
month = "6",
day = "15",
doi = "10.1002/scj.10439",
language = "English",
volume = "34",
pages = "59--68",
journal = "Systems and Computers in Japan",
issn = "0882-1666",
publisher = "John Wiley and Sons Inc.",
number = "6",

}

TY - JOUR

T1 - Navigation of a mobile robot formulated in terms of discrete optimization problems

AU - Igarashi, Harukazu

AU - Ioi, Kiyoshi

PY - 2003/6/15

Y1 - 2003/6/15

N2 - The problem of navigation of an autonomous mobile robot has a great variety of solutions, depending on the premise conditions regarding the properties of the robot, the surrounding environment, and the user specifications. In support of a navigation scheme that can cope flexibly with this variety, this paper proposes a method that formulates the problem in terms of discrete optimization problems. In the proposed method, the problem of robot position/posture estimation from map and sensor data and the problem of deciding the action at each instant are formulated as separate discrete optimization problems. In the former, our approach is an approximation of the Markov localization algorithm. The proposed method is then applied to a navigation problem in a known environment with fixed obstacles, and the effectiveness and feasibility of the method are verified by simulation results.

AB - The problem of navigation of an autonomous mobile robot has a great variety of solutions, depending on the premise conditions regarding the properties of the robot, the surrounding environment, and the user specifications. In support of a navigation scheme that can cope flexibly with this variety, this paper proposes a method that formulates the problem in terms of discrete optimization problems. In the proposed method, the problem of robot position/posture estimation from map and sensor data and the problem of deciding the action at each instant are formulated as separate discrete optimization problems. In the former, our approach is an approximation of the Markov localization algorithm. The proposed method is then applied to a navigation problem in a known environment with fixed obstacles, and the effectiveness and feasibility of the method are verified by simulation results.

KW - Autonomous mobile robot

KW - Discrete optimization problem

KW - Markov localization

KW - Navigation

KW - Trajectory planning

UR - http://www.scopus.com/inward/record.url?scp=0037514469&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0037514469&partnerID=8YFLogxK

U2 - 10.1002/scj.10439

DO - 10.1002/scj.10439

M3 - Article

VL - 34

SP - 59

EP - 68

JO - Systems and Computers in Japan

JF - Systems and Computers in Japan

SN - 0882-1666

IS - 6

ER -