Travel Time Estimation for Optimal Planning in Internal Transportation

Optimal planning depends on precise and exact estimation of the operation costs of mobile robots. Unfortunately, determining the current and future state of a vehicle implies identifying all the parameters in its model. Rather than broadening the number of factors, in this work we adopt the approach...

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Autores: Das, Pragna, Ribas-Xirgo, Lluís|||0000-0003-1419-0485
Tipo de recurso: artículo
Fecha de publicación:2024
País:España
Institución:Universitat Autònoma de Barcelona
Repositorio:Dipòsit Digital de Documents de la UAB
Idioma:inglés
OAI Identifier:oai:ddd.uab.cat:307912
Acceso en línea:https://ddd.uab.cat/record/307912
https://dx.doi.org/urn:doi:10.3390/wevj15120565
Access Level:acceso abierto
Palabra clave:Autonomous mobile robot systems
Cost parameter estimation
Cost efficiency
Kalman filtering
Optimal planning
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spelling Travel Time Estimation for Optimal Planning in Internal TransportationDas, PragnaRibas-Xirgo, Lluís|||0000-0003-1419-0485Autonomous mobile robot systemsCost parameter estimationCost efficiencyKalman filteringOptimal planningOptimal planning depends on precise and exact estimation of the operation costs of mobile robots. Unfortunately, determining the current and future state of a vehicle implies identifying all the parameters in its model. Rather than broadening the number of factors, in this work we adopt the approach of using a higher-level abstraction model to identify only a few cost parameters. Based on the observation that arc travel times accurately reflect the effect of physical states, this work proposes using them as the key parameters to compute accurate path traversal costs in the context of indoor transportation. This approach eliminates the need to model all factors in order to derive the cost for every robot. The resulting model organizes those parameters in a bilinear state-space form and includes the evolution of actual travel times with changing states. We show that the proposed model accurately estimates arc travel times with respect to actual observations gathered from real robots traversing a few arcs of a traffic network until battery exhaustion. We experimentally obtained minimum-cost paths from random origin and destination nodes when using heuristics and the "closer-to-reality" (bilinear-state version of our model) path costs, finding that it can save an average of 15% in transportation time compared to conventional methods. 22024-01-0120242024-01-01Articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://ddd.uab.cat/record/307912https://dx.doi.org/urn:doi:10.3390/wevj15120565reponame:Dipòsit Digital de Documents de la UABinstname:Universitat Autònoma de BarcelonaInglésengAgència de Gestió d'Ajuts Universitaris i de Recerca https://doi.org/10.13039/501100003030 2021/SGR-01623open accesshttp://purl.org/coar/access_right/c_abf2Aquest document està subjecte a una llicència d'ús Creative Commons. Es permet la reproducció total o parcial, la distribució, la comunicació pública de l'obra i la creació d'obres derivades, fins i tot amb finalitats comercials, sempre i quan es reconegui l'autoria de l'obra original.https://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:ddd.uab.cat:3079122026-06-06T12:50:31Z
dc.title.none.fl_str_mv Travel Time Estimation for Optimal Planning in Internal Transportation
title Travel Time Estimation for Optimal Planning in Internal Transportation
spellingShingle Travel Time Estimation for Optimal Planning in Internal Transportation
Das, Pragna
Autonomous mobile robot systems
Cost parameter estimation
Cost efficiency
Kalman filtering
Optimal planning
title_short Travel Time Estimation for Optimal Planning in Internal Transportation
title_full Travel Time Estimation for Optimal Planning in Internal Transportation
title_fullStr Travel Time Estimation for Optimal Planning in Internal Transportation
title_full_unstemmed Travel Time Estimation for Optimal Planning in Internal Transportation
title_sort Travel Time Estimation for Optimal Planning in Internal Transportation
dc.creator.none.fl_str_mv Das, Pragna
Ribas-Xirgo, Lluís|||0000-0003-1419-0485
author Das, Pragna
author_facet Das, Pragna
Ribas-Xirgo, Lluís|||0000-0003-1419-0485
author_role author
author2 Ribas-Xirgo, Lluís|||0000-0003-1419-0485
author2_role author
dc.subject.none.fl_str_mv Autonomous mobile robot systems
Cost parameter estimation
Cost efficiency
Kalman filtering
Optimal planning
topic Autonomous mobile robot systems
Cost parameter estimation
Cost efficiency
Kalman filtering
Optimal planning
description Optimal planning depends on precise and exact estimation of the operation costs of mobile robots. Unfortunately, determining the current and future state of a vehicle implies identifying all the parameters in its model. Rather than broadening the number of factors, in this work we adopt the approach of using a higher-level abstraction model to identify only a few cost parameters. Based on the observation that arc travel times accurately reflect the effect of physical states, this work proposes using them as the key parameters to compute accurate path traversal costs in the context of indoor transportation. This approach eliminates the need to model all factors in order to derive the cost for every robot. The resulting model organizes those parameters in a bilinear state-space form and includes the evolution of actual travel times with changing states. We show that the proposed model accurately estimates arc travel times with respect to actual observations gathered from real robots traversing a few arcs of a traffic network until battery exhaustion. We experimentally obtained minimum-cost paths from random origin and destination nodes when using heuristics and the "closer-to-reality" (bilinear-state version of our model) path costs, finding that it can save an average of 15% in transportation time compared to conventional methods.
publishDate 2024
dc.date.none.fl_str_mv 2
2024-01-01
2024
2024-01-01
dc.type.none.fl_str_mv Article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://ddd.uab.cat/record/307912
https://dx.doi.org/urn:doi:10.3390/wevj15120565
url https://ddd.uab.cat/record/307912
https://dx.doi.org/urn:doi:10.3390/wevj15120565
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agència de Gestió d'Ajuts Universitaris i de Recerca https://doi.org/10.13039/501100003030 2021/SGR-01623
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
https://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
https://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Dipòsit Digital de Documents de la UAB
instname:Universitat Autònoma de Barcelona
instname_str Universitat Autònoma de Barcelona
reponame_str Dipòsit Digital de Documents de la UAB
collection Dipòsit Digital de Documents de la UAB
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