Application of multicriteria decision-making techniques to manoeuvre planning in nonholonomic robots

In the scientific literature, one can find different techniques for tackling the problem involved in generating manoeuvres in robots with nonholonomic restrictions. Among these, probabilistic generation methods have been widely used. This paper presents a new technique that enables the best paths to...

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Bibliographic Details
Published inExpert systems with applications Vol. 37; no. 5; pp. 3962 - 3976
Main Authors Martín Ramos, J.M., López García, D., Gómez-Bravo, F., Blanco Morón, A.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.05.2010
Subjects
Constrictions
Decision making
Expert systems
Human beings
Manoeuvre planning
Mobile robots
Multicriteria decision-making
Nonholonomic systems
Probabilistic methods
Probability theory
Robots
RRT
Multicriteria decision-making
Mobile robots
RRT
Manoeuvre planning
Nonholonomic systems
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Summary:In the scientific literature, one can find different techniques for tackling the problem involved in generating manoeuvres in robots with nonholonomic restrictions. Among these, probabilistic generation methods have been widely used. This paper presents a new technique that enables the best paths to be selected from among a set provided by a probabilistic planning method (RRT). This selection involved the application of multicriteria decision-making techniques (MCDMT). The particularity of these MCDMT lies in the fact that they provide the same result as would arise if the decision had been taken by a human being. The application of these techniques (generation and ranking) has enabled the development of an automatic tool for finding the best manoeuvres for nonholonomic robots. Lastly, we present the application of these techniques to a real situation, obtaining excellent results.
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ISSN:0957-4174
1873-6793
DOI:10.1016/j.eswa.2009.11.019