A study of the joint decision between spatial intelligence and agent intelligence based on multi-source information

This paper proposes a joint decision approach of intelligence fusion based on two kinds of intelligence, which is used in the domestic indoor environment for the planar mobile robot reaching the destination avoiding the obstacles. Spatial intelligence and agent intelligence provide control decisions for fusing based on the multi-source information. In this work, ceiling cameras observe the objects´ information on the ground for spatial intelligence to stitch and analyze the occupancy grid map. Infrared sensor modules detect the obstacles at the front of the robot as agent intelligence. Fusion intelligence system decides the final control strategy based on the spatial intelligence and agent intelligence in order to reach the destination point in the indoor environment. The experimental results show that the method is feasible and the fusion intelligence behaves better than the single intelligence, which verifies the possibility and excellence of utilizing the intelligence fusion for robot action in the domestic indoor environment.