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The goal of the project is to make a robot plan its path from a source to the destination and reach the destination only by evidence and its previous transition.

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Johny-kann/Path-Planning-in-iRobot-create-using-POMDP

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Path Planning in iRobot create using POMDP

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The goal of the project is to make a robot plan its path from a source to the destination and reach the destination only by evidence and its previous transition.

The methodology involved

  • creating a graph of nodes connected to each other based on the arena
  • assigning an equal belief for all the states
  • computing policies using value iteration based on MDP and POMDP
  • Issuing actions to the robot to move (Up,Down,Left,Right)
  • Getting evidence from the robot if it hits anywhere
  • updating the belief based on the evidence and actions
  • Repeat the last 4 actions till it reaches the destination

The utilities for the actions are computed based on the formula Capture

A sample graph depicting the arena, where the blue color represents the states which are all blocked Capture

Technical Features: Python, Multi-Threading, POMDP, MDP, PyCreate lib

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The goal of the project is to make a robot plan its path from a source to the destination and reach the destination only by evidence and its previous transition.

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