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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479966783
DOIs
Publication statusPublished - 21 Mar 2016
EventInternational Symposium on Micro-NanoMechatronics and Human Science, MHS 2015 - Nagoya, Japan
Duration: 23 Nov 201525 Nov 2015

Publication series

Name2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015

Conference

ConferenceInternational Symposium on Micro-NanoMechatronics and Human Science, MHS 2015
CountryJapan
CityNagoya
Period23/11/1525/11/15

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    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 [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