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Path Planning and Control of Cooperative Mobile Robots Using Discrete Event Models

Hardcover

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$125.00

Path Planning and Control of Cooperative Mobile Robots Using Discrete Event Models

Cristian Mahulea, Marius Kloetzer, Ram¿n Gonzalez

ISBN: 978-1-119-48632-9 February 2020 Wiley-IEEE Press 300 Pages

Hardcover
Pre-order
$125.00
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Description

This book presents 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. It begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. Then, different types of discrete models (FSA and PNs) are presented. The RMTool MATLAB toolbox is described after, because it is used in the last part of the book to provide numerical experiments. The book also dicusses 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.