期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 30, 期 4, 页码 919-934出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2014.2312812
关键词
Demining systems; information value; mutual information; robot path planning; sensor networks
类别
资金
- National Science Foundation [ECCS 1028506]
This paper presents an information potential method for integrated path planning and control. The method is applicable to unicycle robotic sensors deployed to classify multiple targets in an obstacle-populated environment. A new navigation function, referred to as information potential, is generated from the target conditional mutual information, and used to design a closed-loop stable switched control law. The information potential is shown to obey the properties of potential navigation functions and to enable measurements that maximize the information value over time. The information potential is also used to construct a local roadmap for escaping local minima. The properties and computational complexity of the local roadmap algorithm are analyzed. Numerical simulation results show that the method outperforms other strategies, such as rapidly exploring random trees and classical potential field methods.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据