Title :
Perception planning in mobile robot navigation
Author :
Xu, H. ; Vandorpe, J.
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium
Abstract :
This paper discusses the perception planning in the navigation of multisensor mobile robots. It is suggested that a perception planner could select sensory data, adjust sensor parameters and select fusion techniques. Utility functions are proposed for the selection of sensory data and their effects are shown. A perception planner can also perform high level uncertainty management such as data monitoring, reasoning and decision making in abnormal situations. An implementation on a mobile robot illustrates this functionality
Keywords :
mobile robots; object recognition; path planning; sensor fusion; uncertainty handling; Utility functions are; data monitoring; decision making; fusion techniques; high level uncertainty management; mobile robot navigation; multisensor mobile robots; perception planning; reasoning; utility functions; Art; Buildings; Decision making; Intelligent sensors; Mobile robots; Navigation; Object recognition; Sensor fusion; Sensor phenomena and characterization; Uncertainty;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.
Conference_Location :
Las Vegas, NV
Print_ISBN :
0-7803-2072-7
DOI :
10.1109/MFI.1994.398383
