Open AccessA Markov Decision Model for Area Coverage in Autonomous Demining Robot
Author(s) -
Abdelhadi Larach,
Cherki Daoui,
Mohamed Baslam
Publication year - 2017
Publication title -
international journal of informatics and communication technology/international journal of informatics and communication technology (ij-ict)
Language(s) - English
Resource type - Journals
eISSN - 2722-2616
pISSN - 2252-8776
DOI - 10.11591/ijict.v6i2.pp105-116
Subject(s) - markov decision process , computer science , path (computing) , robot , variety (cybernetics) , motion planning , markov chain , cover (algebra) , process (computing) , state space , plan (archaeology) , mathematical optimization , markov process , operations research , artificial intelligence , engineering , machine learning , mathematics , geography , mechanical engineering , statistics , archaeology , programming language , operating system
A review of literature shows that there is a variety of works studying coverage path planning in several autonomous robotic applications. In this work, we propose a new approach using Markov Decision Process to plan an optimum path to reach the general goal of exploring an unknown environment containing buried mines. This approach, called Goals to Goals Area Coverage on-line Algorithm, is based on a decomposition of the state space into smaller regions whose states are considered as goals with the same reward value, the reward value is decremented from one region to another according to the desired search mode. The numerical simulations show that our approach is promising for minimizing the necessary cost-energy to cover the entire area.