TY - GEN
T1 - Experimental research of navigation behavior selection using Generalized Stochastic Petri Nets (GSPN) for a tour-guide robot
AU - Kim, Gunhee
AU - Chung, Woojin
AU - Park, Sung Kee
AU - Kim, Munsang
PY - 2005
Y1 - 2005
N2 - This paper proposes a formal selection framework of multiple navigation behaviors for a service robot. In our approach, modeling, analysis, and performance evaluation are carried out based on the Generalized Stochastic Petri Nets (GSPN). By adopting probabilistic approach, our framework helps the robot to select the most desirable navigation behavior in run time according to environmental conditions. Moreover, after a mission, the robot evaluates prior navigation performance from accumulated data, and uses the results for the improvement of future operations. Also, GSPN has several advantages over classic automata or direct use of Markov Process. The basic ideas of the framework were introduced in our previous work [1]. Thus, this paper focuses on experimental verification by implementing the framework into the guide robot Jinny. We conduct the experiments about real guidance tasks with visitors in the National Science Museum of Korea. The results show that the proposed strategy is useful to select an appropriate navigation behavior in a dynamic space.
AB - This paper proposes a formal selection framework of multiple navigation behaviors for a service robot. In our approach, modeling, analysis, and performance evaluation are carried out based on the Generalized Stochastic Petri Nets (GSPN). By adopting probabilistic approach, our framework helps the robot to select the most desirable navigation behavior in run time according to environmental conditions. Moreover, after a mission, the robot evaluates prior navigation performance from accumulated data, and uses the results for the improvement of future operations. Also, GSPN has several advantages over classic automata or direct use of Markov Process. The basic ideas of the framework were introduced in our previous work [1]. Thus, this paper focuses on experimental verification by implementing the framework into the guide robot Jinny. We conduct the experiments about real guidance tasks with visitors in the National Science Museum of Korea. The results show that the proposed strategy is useful to select an appropriate navigation behavior in a dynamic space.
KW - A guide robot
KW - Behavior selection
KW - Generalized stochastic petri nets
KW - Monte-carlo localization
KW - Robot navigation
UR - http://www.scopus.com/inward/record.url?scp=33750125165&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33750125165&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545174
DO - 10.1109/IROS.2005.1545174
M3 - Conference contribution
AN - SCOPUS:33750125165
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2259
EP - 2265
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -