Path Planning of Cooperative Mobile Robots Using Discrete Event Models

Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control. The book 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. The RMTool toolbox (using MATLAB) is described thereafter, which allows readers to work on 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.

Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also:

• Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms
• Provides a tutorial for motion planning introductory courses or related simulation-based projects using a package created in MATLAB called RMTool (Robot Motion Toolbox)
• Includes simulations for problems solved by methodologies presented in the book

The Robot Motion Toolbox (RMTool) used in the book is available for download.