Nicola Ceccarelli is now with GE Oil & Gas, Firenze, Italy.
Special Issue Paper
Path planning with uncertainty: A set membership approach
Article first published online: 3 DEC 2010
Copyright © 2010 John Wiley & Sons, Ltd.
International Journal of Adaptive Control and Signal Processing
Special Issue: Bounding Methods for State and Parameter Estimation
Volume 25, Issue 3, pages 273–287, March 2011
How to Cite
Ceccarelli, N., Di Marco, M., Garulli, A., Giannitrapani, A. and Vicino, A. (2011), Path planning with uncertainty: A set membership approach. Int. J. Adapt. Control Signal Process., 25: 273–287. doi: 10.1002/acs.1217
- Issue published online: 15 FEB 2011
- Article first published online: 3 DEC 2010
- Manuscript Accepted: 22 SEP 2010
- Manuscript Revised: 3 SEP 2010
- Manuscript Received: 27 JAN 2010
- path planning;
- navigation uncertainty;
- set membership;
The paper addresses the path planning problem in a set theoretic framework. The considered scenario is that of a mobile robot exploiting range and bearing measurements with respect to known landmarks to localize itself. By assuming unknown-but-bounded measurement noise, set membership localization techniques are used to estimate the uncertainty of each robot pose within the considered environment. The path planning problem is formulated and solved, with the aim of minimizing the total uncertainty associated with the travelled path. Practical issues such as limited sensory range and obstacle avoidance are taken into account. The proposed technique is validated via numerical simulations. Copyright © 2010 John Wiley & Sons, Ltd.