Path planning of cooperative mobile robots using discrete event model

The book Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs.

Path planning of cooperative mobile robots using discrete event model

Cristian Mahulea

Wiley

2010

Abstract

The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses 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.

The contents of the book include 7 chapters

+ Chapter 1: Introduction

+ Chapter 2: Robot motion toolbox

+ Chapter 3: Cell decomposition algoriths

+ Chapter 4:Discrete event system models

+ Chapter 5: Path planning using transition system models

+ Chapter 6: Path and task planning using petri net models

+ Chapter 7: Concluding remarks.