Team Theoretic Approach For Sensing Based Robot Navigation
Wen Wu, Makoto Yokoo · 2005
An essential task for autonomous mobile robot is to move from places to places while avoiding obstacles and keep itself located. In a dynamically changing environment this requires the utilization of diverse sensor information. For mobile robots equipped with multiple sensors, different types of sensor and sensor configurations provide competing and complementing functions for the above purposes. A hierarchical architecture with centralized sensor data fusion scheme lacks the flexibility and is prone to overall failure caused by loss of single sensor or communication line. In this paper we address the problem of sensing based navigation by modelling various sensors as a team of experts cooperating to achieve a common objectives. Our approach is based on the team theory[10] and the problem of coordination of sensor information for robot navigation is addressed. 1 Introduction Navigation of a mobile robot would be relatively easy if the mobile robot could perceive its environment and co...