2P1-E22 The Application of a GSPN Modeling Strategy in a Framework for Selecting Multiple Navigation Behaviors for a Mobile Robot

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概要

• 論文の詳細を見る

• In this paper, we propose that the propriety of a GSPN model can be analyzed through an analysis of the performance of the GSPN. We designed illustrative GSPN models and analyzed the performance of each GSPN model. The Case-I model is designed by using three behaviors and four states. Through the performance analysis, we designed the Case-II model, which exploits three behaviors and two states. The performance analysis of the Case-II model shows that the designed model does not have any redundant states. As a result, the Case-II model is more advantageous because it entails only small computational burden. These results show that the Case-II model is an optimal model with three behaviors.

• 一般社団法人日本機械学会の論文
• 2009-05-25

著者

• Song Jae-bok

  Korea University

• Moon Chang-bae

  Korea University

• Chung Woojin

  Korea University

関連論文

• Thinning-Based Topological Exploration Using Position Possibility of Topological Nodes
• 2P1-E22 The Application of a GSPN Modeling Strategy in a Framework for Selecting Multiple Navigation Behaviors for a Mobile Robot
• 2P2-E21 High speed navigation of a mobile robot based on robot's experiences

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