Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot

Sumarsih Condroayu Purbarani; Qurrotin A'Yunina Moa; Grafika Jati; Muhammad Anwar Ma'Sum; Hanif Arif Wisesa; Wisnu Jatmiko

doi:10.1109/MHS.2015.7438292

Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot

Sumarsih Condroayu Purbarani, Qurrotin A'Yunina Moa, Grafika Jati, Muhammad Anwar Ma'Sum, Hanif Arif Wisesa, Wisnu Jatmiko

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

Fire-fighting robot is still one of the fields in robotic competitions held these days. This paper is aimed to see the implementation of the Markov Decision Planning (MDP) problem in a fire-fighting robot's navigation. The MDP algorithm evolves planning of the actions the robot should take according to the policy. This planning is mapped into a grid map. Yet in the implementation, this planning is applied in a continuous map. Using a fire-fighting robot the succession of this planning implementation is undertaken. The result shows that the implementation of grid mapped in a continuous map yields significant impacts that lead the MDP to be able to solve the limitation of wall following algorithm. This algorithm is also applied in the real autonomous mobile robot.

Original language	English
Title of host publication	2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479966783
DOIs	https://doi.org/10.1109/MHS.2015.7438292
Publication status	Published - 21 Mar 2016
Event	International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015 - Nagoya, Japan Duration: 23 Nov 2015 → 25 Nov 2015

Publication series

Name	2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015

Conference

Conference	International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015
Country/Territory	Japan
City	Nagoya
Period	23/11/15 → 25/11/15

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10.1109/MHS.2015.7438292

Cite this

Purbarani, S. C., A'Yunina Moa, Q., Jati, G., Ma'Sum, M. A., Wisesa, H. A., & Jatmiko, W. (2016). Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot. In 2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015 Article 7438292 (2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MHS.2015.7438292

Purbarani, Sumarsih Condroayu ; A'Yunina Moa, Qurrotin ; Jati, Grafika et al. / Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot. 2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. (2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015).

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title = "Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot",

abstract = "Fire-fighting robot is still one of the fields in robotic competitions held these days. This paper is aimed to see the implementation of the Markov Decision Planning (MDP) problem in a fire-fighting robot's navigation. The MDP algorithm evolves planning of the actions the robot should take according to the policy. This planning is mapped into a grid map. Yet in the implementation, this planning is applied in a continuous map. Using a fire-fighting robot the succession of this planning implementation is undertaken. The result shows that the implementation of grid mapped in a continuous map yields significant impacts that lead the MDP to be able to solve the limitation of wall following algorithm. This algorithm is also applied in the real autonomous mobile robot.",

author = "Purbarani, {Sumarsih Condroayu} and {A'Yunina Moa}, Qurrotin and Grafika Jati and Ma'Sum, {Muhammad Anwar} and Wisesa, {Hanif Arif} and Wisnu Jatmiko",

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doi = "10.1109/MHS.2015.7438292",

language = "English",

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Purbarani, SC, A'Yunina Moa, Q, Jati, G, Ma'Sum, MA, Wisesa, HA & Jatmiko, W 2016, Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot. in 2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015., 7438292, 2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015, Institute of Electrical and Electronics Engineers Inc., International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015, Nagoya, Japan, 23/11/15. https://doi.org/10.1109/MHS.2015.7438292

Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot. / Purbarani, Sumarsih Condroayu; A'Yunina Moa, Qurrotin; Jati, Grafika et al.
2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. 7438292 (2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Purbarani, Sumarsih Condroayu

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AU - Wisesa, Hanif Arif

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AB - Fire-fighting robot is still one of the fields in robotic competitions held these days. This paper is aimed to see the implementation of the Markov Decision Planning (MDP) problem in a fire-fighting robot's navigation. The MDP algorithm evolves planning of the actions the robot should take according to the policy. This planning is mapped into a grid map. Yet in the implementation, this planning is applied in a continuous map. Using a fire-fighting robot the succession of this planning implementation is undertaken. The result shows that the implementation of grid mapped in a continuous map yields significant impacts that lead the MDP to be able to solve the limitation of wall following algorithm. This algorithm is also applied in the real autonomous mobile robot.

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Purbarani SC, A'Yunina Moa Q, Jati G, Ma'Sum MA, Wisesa HA, Jatmiko W. Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot. In 2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015. Institute of Electrical and Electronics Engineers Inc. 2016. 7438292. (2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015). doi: 10.1109/MHS.2015.7438292

Implementation of grid mapped robot planning algorithm in a continuous map for fire fighting robot

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