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926 IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 51, NO. 6, JUNE 2006 Symbolic Feedback Control for Navigation
 

Summary: 926 IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 51, NO. 6, JUNE 2006
Symbolic Feedback Control for Navigation
Sean B. Andersson, Member, IEEE, and Dimitrios Hristu, Senior Member, IEEE
Abstract--We discuss the generation of symbolic feedback con-
trol sequences for navigating a sparsely-described and uncertain
environment, together with the problem of sensing landmarks suf-
ficiently well to make feedback meaningful. We explore the use of a
symbolic control approach for mitigating the lack of a detailed map
of the environment and for reducing the complexity associated with
finding control laws which steer a control system between distant
locations. Under our language-based approach, control inputs take
the form of symbolic strings. The decision process that generates
those strings is guided by estimates of the vehicle's location within
a set of important landmarks and by the statistical effectiveness of
each string. This arrangement, and in particular the symbolic na-
ture of the control set, allows us to formulate and solve a class of
optimal navigation problems which would be exceedingly difficult
to handle if approached at the level of sensors and actuators. Our
approach is illustrated in a series of numerical indoor navigation
experiments.

  

Source: Andersson, Sean B. - Department of Aerospace and Mechanical Engineering, Boston University

 

Collections: Engineering