Offers an integrated presentation for path planning and motion control
of cooperative mobile robots using discrete-event system principles
Generating feasible paths or routes between a given starting position
and a goal or target position--while avoiding obstacles--is a common
issue for all mobile robots. This book formulates the problem of path
planning of cooperative mobile robots by using the paradigm of
discrete-event systems. It presents everything readers need to know
about discrete event system models--mainly Finite State Automata (FSA)
and Petri Nets (PN)--and methods for centralized path planning and
control of teams of identical mobile robots.
Path Planning of Cooperative Mobile Robots Using Discrete Event Models
begins with a brief definition of the Path Planning and Motion Control
problems and their state of the art. It then presents different types of
discrete models such as FSA and PNs. The RMTool MATLAB toolbox is
described thereafter, for readers who will need it to provide numerical
experiments in the last section. The book also discusses cell
decomposition approaches and shows how the divided environment can be
translated into an FSA by assigning to each cell a discrete state, while
the adjacent relation together with the robot's dynamics implies the
discrete transitions.
Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell
decomposition, Finite State Automata modeling, and Petri Nets, this book
also:
- Synthesizes automatic strategies based on Discrete Event Systems (DES)
for path planning and motion control and offers software
implementations for the involved algorithms
- Provides a tutorial for motion planning introductory courses or
related simulation-based projects using a MATLAB package called RMTool
(Robot Motion Toolbox)
- Includes simulations for problems solved by methodologies presented in
the book
Path Planning of Cooperative Mobile Robots Using Discrete Event Models
is an ideal book for undergraduate and graduate students and college and
university professors in the areas of robotics, artificial intelligence,
systems modeling, and autonomous control.
