Perception planning in mobile robot navigation

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>