A decision-theoretic approach to planning, perception, and control
A decision-theoretic approach to planning, perception, and control
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规划、感知和控制的决策理论方法
DOI：
10.1109/64.153465
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
M. Lejter
中科院分区：
文献类型：
--
作者：
K. Basye;T. Dean;J. Kirman;M. Lejter
讨论了贝叶斯决策理论作为设计高级机器人控制系统的框架的应用。构建规划和控制系统的方法集成了传感器融合、预测和顺序决策。该系统明确地使用传感器信息的价值以及促进进一步感知的行动的价值。描述了控制系统中使用的随机决策模型和移动目标定位模型。还讨论了用于驱动小型移动机器人的控制系统，该小型移动机器人配备了最大范围为六米的八个声纳传感器和能够识别其视野中的移动目标并报告其相对于机器人的运动的视觉处理系统。<<ETX>>
The application of Bayesian decision theory as a framework for designing high-level robotic control systems is discussed. The approach to building planning and control systems integrates sensor fusion, prediction, and sequential decision making. The system explicitly uses the value of sensor information as well as the value of actions that facilitate further sensing. A stochastic decision model and a model for mobile-target localization used in the control system are described. A control system implemented to drive a small mobile robot equipped with eight sonar transducers with a maximum range of six meters and a visual processing system capable of identifying moving targets in its visual field and reporting their motion relative to the robot is also discussed.<<ETX>>