DocumentCode
2668673
Title
Perception planning in mobile robot navigation
Author
Xu, H. ; Vandorpe, J.
Author_Institution
Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium
fYear
1994
fDate
2-5 Oct 1994
Firstpage
723
Lastpage
730
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MFI.1994.398383
Filename
398383
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