Dynamic selection of perception processes on an autonomous robot
André Dalgalarrondo, Dominique Luzeaux · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1999
In this paper, we are interested in the design and the experiment of a control architecture for an autonomous outdoor mobile robot which mainly uses vision. We focus on the design of a mechanism that permits the dynamic selection and firing of perception processes. We propose a hybrid architecture that uses an attention mechanism which controls the robot environment awareness while managing the computational resources and allowing a fair reactivity. We describe its implementation and experimentation on a robot in an outdoor environment.