Navigation Method Selector for an Autonomous Explorer Rover with a Markov Decision Process

Authors:
Simon Gloannec;Abdel-Illah Mouaddib
Affiliations:
GREYC, UMR 6072, Université de Caen Basse Normandie, Caen, France 14000;GREYC, UMR 6072, Université de Caen Basse Normandie, Caen, France 14000
Venue:
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Year:
2009

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Abstract

Many high level navigation methods exists for autonomous rovers. Usually, fixed methods is choosen for the rover to follow its trajectory. In some cases, a rover can have several embedded navigation methods, but there is currently no automatic approach to select the best method. In this paper, we propose an automatic navigation method selector using Markov Decision Process (MDP) framework. Navigation method are modelized in the MDP transitions functions. Results we achieved were promissing.