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Control of a robot in a partially unknown environment

✍ Scribed by W.G. Keckler; R.E. Larson

Publisher: Elsevier Science
Year: 1970
Tongue: English
Weight: 780 KB
Volume: 6
Category: Article
ISSN: 0005-1098
DOI: 10.1016/0005-1098(70)90062-2

No coin nor oath required. For personal study only.

✦ Synopsis

This paper discusses the problem of controlling the motion of a robot in a partially unknown environment. The problem can be formulated as a stochastic control problem with some state variables related to the physical dynamics of the robot and others related to the information the robot has obtained about the environment. First, a dynamic programming procedure that calculates the optimum policy for the robot is described. Next, a heuristic method that is capable of solving much larger problems is presented. The performance of the heuristic is shown to compare favorably with that of humans in complex examples. *

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