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	A new path planning algorithm with uncertainty information of robot's initial position
	Pengfei Liu; Jianwei Sun; Ruiqing Fu; Yen-Lun Chen; Wei Feng; Xinyu Wu
	2013
会议名称	2013 IEEE International Conference on Information and Automation, ICIA 2013
会议地点	Yinchuan, China
英文摘要	The task of path planning has attracted considerable attentions over decades. Mostpath planning research was focused on the property of environment, which is either static or dynamic, and many accomplishments have been achieved. However, less attention has been paid to the uncertainty of robot location. Previous research works always assume the position of robot to be a certain point, which is a waste of information. Actually, many localization algorithms suggest that robots knowledge of its location is a probability distribution over many points. Partial Observable Markov Decision Process(POMDP) provides a framework to handleuncertainty in planing. In this paper we propose a new path planning algorithm, which is called M* to find an admissible and optimal path for moving robots with the initial position of the robot be uncertain. By using the Monte Carlo method and considering in high dimensionality, we transform this problem into a more neat form and make A* applicable.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/4604]
专题	深圳先进技术研究院_集成所
作者单位	2013
推荐引用方式 GB/T 7714	Pengfei Liu,Jianwei Sun,Ruiqing Fu,et al. A new path planning algorithm with uncertainty information of robot's initial position[C]. 见:2013 IEEE International Conference on Information and Automation, ICIA 2013. Yinchuan, China.

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