Minimum uncertainty robot path planning using a POMDP approach

Abstract

We propose a new minimum uncertainty planning technique for mobile robots localizing with beacons. We model the system as a partially-observable Markov decision process and use a sampling-based method in the belief space (the space of posterior probability density functions over the state space) to find a belief-feedback policy. This approach allows us to analyze the evolution of the belief more accurately, which can result in improved policies when common approximations do not model the true behavior of the system. We demonstrate that our method performs comparatively, and in certain cases better, than current methods in the literature.