Tow ards a Meta Motion Planner A: Model and Famework
نویسندگان
چکیده
We address the problem of rating or comparing nav,igatiorz crlgorathms, or more generally navigation packages. For a given environment a navigation package consids of a motion planner and a sensor to be used dur.ing navigation. The ability to rate or measure a navigation packnge i s im,portant in order to address issues lake sensor customization for an environmen.t and choice of a rnotion planner in an environment. W e develop a fram,ework under which we can rate a given nnvigation package. Based on the navigation package, o partially observable Markov decision process (POMDP) i s defined. Next an optimal policy to be used in lhis POMDP is search& for. The performance achieved under the resulting policy serves to measure the navigation package. This prrper pr.esents the motivations for solving the problerii, the model we use and the framework which we have deucloped. A n accompanying paper [l] presents the algorithm .wliich we use and some results.
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