Recognition approach of regional type of mobile robotbased on hypothesis testing theory
一种基于假设检验的机器人所处区域类型识别方法

This paper proposed a recognition approach of regional type based on hypothesis testing theory. It firstly proposed a probabilistic identification method of unexpected obstacle considering the uncertainty of sensor information. Then it treated sensor information as a sampling of the environment around the robot, so that it tested a hypothesis of the regional type of the environment confronting the robot, using the number of the sensor measurement caused by unexpected obstacle. This approach successfully limited the probability of misjudgement. Experiment result proves that the proposed approach is able to recognize the regional type considering the inaccurate sensing information. More than that, this paper proposed a path planning experiment under partly unknown environment using the proposed approach to demonstrates its effect.