MODELING AND HANDLING UNCERTAINTIES IN MOBILE ROBOTICS

This paper introduces a method for modelling a Mobile Robot's environm ent, with its in-built uncertainties, in the Configuration Space using sonar range finders. The sonar uncertainties are modelled using a pos sibilistic, rather than probabilistic, measure and are represented by Fuzzy Membership grades. The Resistive Grid path planning method, that maps the Fuzzy Configuration Space Map into a grid of resistors and m odels goals as voltage sources, is used for planning a path. The neat- optimal planned path takes into consideration position and modelling u ncertainties, kinematic constraints of the vehicle as well as the unce rtainty of the goal. The path is produced incrementally, giving inhere nt interleaving between planning and execution, thus the method is par ticularly suited for real time applications.