Robot Navigation in Unknown Environments Using Priority Based Objective Scheduling

Robot navigation at its core is used to achieve some objective, and accurate traversal cost estimation is crucial to path planning in unknown environments. Dynamically predicting traversal cost can be computationally expensive, and the imposed limitations require that an efficient solution is realiz...

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Bibliographic Details
Main Authors: Nazario-Casey, Blake, Patrick Kreidl, O.
Format: Conference Proceeding
Language:English
Subjects:
artificial intelligence
autonomy
Calibration
computing
Heuristic algorithms
Job shop scheduling
Navigation
optimization
Path planning
priority
Processor scheduling
Task analysis
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Description
Summary:Robot navigation at its core is used to achieve some objective, and accurate traversal cost estimation is crucial to path planning in unknown environments. Dynamically predicting traversal cost can be computationally expensive, and the imposed limitations require that an efficient solution is realized. This research, a continuation of research conducted in 2017, proposes a way to navigate unknown environments while taking into consideration objective priority when path planning. By treating the objective prioritization as a priority task scheduling problem in terms of objective throughput, a solution can be derived.
ISSN:1558-058X
DOI:10.1109/SECON.2018.8479295