Preprint Article Version 1 This version is not peer-reviewed

Applied Robot Coverage Path Planning with Multiple Decision Making Capability under Uncertainty using Knowledge Inference with Hedge Algebras

Version 1 : Received: 4 August 2018 / Approved: 6 August 2018 / Online: 6 August 2018 (14:06:19 CEST)

A peer-reviewed article of this Preprint also exists.

Van Pham, H.; Moore, P. Robot Coverage Path Planning under Uncertainty Using Knowledge Inference and Hedge Algebras. Machines 2018, 6, 46. Van Pham, H.; Moore, P. Robot Coverage Path Planning under Uncertainty Using Knowledge Inference and Hedge Algebras. Machines 2018, 6, 46.

Journal reference: Machines 2018, 6, 46
DOI: 10.3390/machines6040046

Abstract

Robotic decision-support systems must facilitate a robots interactions with their environment, this demands adaptability. Adaptability relates to awareness of the environment and `self-awareness', human behaviour exemplifies the concept of awareness to arrive at an optimal choice of action or decision based on reasoning and inference with learned preferences. A similar conceptual approach is required to implement awareness in autonomous robotic systems which must adapt to the current dynamic environment (the context of use). By incorporating `self-awareness' with knowledge of a Robot's preferences (in decision making) the decision maker interface should adapt to the current context of use. This paper proposes a novel approach to enable an autonomous robotics which implements path planning combining adaptation with knowledge reasoning techniques and hedge algebra to enable an autonomous robot to realise optimal coverage path planning under dynamic uncertainty. The results for a cleaning robot show that using our proposed approach demonstrated the capability to avoid both static and dynamic obstacles while achieving optimal path planning with increased efficiency. The proposed approach achieves the multiple decision-making objectives (path planning) with a high-coverage and low repetition rates. Compared to other current approaches, the proposed approach has demonstrated improved performance over the conventional robot control algorithms.

Subject Areas

robotics; coverage path-planning; knowledge reasoning and inference; hedge algebras; decision-support systems

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