Adaptive sensor integration for mobile robot navigation

摘要

Adaptive sensor integration (ASI) to navigate mobile robot in partially known and changing environments is described in this paper. The relationship between the "clutterness" of the robot's environment at any given time, speed of the robot, and the configuration of sensors on board of the robot is explored. Quantitative relationships are obtained to maximize the safe speed of travel from the initial position to the goal position. Experimental results are provided to illustrate this method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>