Action Node Graph: A Graph Design for Mobile Robot Route Planning with Actions

Abstract

The paper presents a graph design for action planning of autonomous mobile robots. Mobile robots, especially in city situations, are required various actions to move to their destination. When moving around in a building, it is not only about planning the wheels’ path, such as opening doors to get inside or getting on elevators, but also about the actions other than movement. This paper proposes "the action node graph" to realize action planning that includes the actions that occur as they move. The action node graph is dynamically generated from the action information required at each location and the robot’s possible actions. The robot searches their route plan that includes behaviors other than movement. The search results are automatically converted into a Behavior Tree to realize the mobile robot’s autonomous action.