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Symbolic Feedback Control for Navigation.
- Source :
-
IEEE Transactions on Automatic Control . Jun2006, Vol. 51 Issue 6, p926-937. 12p. 3 Diagrams. - Publication Year :
- 2006
-
Abstract
- We discuss the generation of symbolic feedback con- trol sequences for navigating a sparsely-described and uncertain environment, together with the problem of sensing landmarks sufficiently well to make feedback meaningful. We explore the use of a symbolic control approach for mitigating the lack of a detailed map of the environment and for reducing the complexity associated with finding control laws which steer a control system between distant locations. Under our language-based approach, control inputs take the form of symbolic strings. The decision process that generates those strings is guided by estimates of the vehicle's location within a set of important landmarks and by the statistical effectiveness of each string. This arrangement, and in particular the symbolic nature of the control set, allows us to formulate and solve a class of optimal navigation problems which would be exceedingly difficult to handle if approached at the level of sensors and actuators. Our approach is illustrated in a series of numerical indoor navigation experiments. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 51
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 21384340
- Full Text :
- https://doi.org/10.1109/TAC.2006.876956