relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2354/
title: A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments
creator: Nguyen, Thi Thanh Van
creator: Phung, Manh Duong
creator: Dang, Anh Viet
creator: Tran, Quang Vinh
subject: Electronics and Computer Engineering
subject: Engineering Mechanics
subject: Engineering Physics
description: This study proposes behavior-based navigation architecture, named BBFM, for mobile robot in unknown environment with obstacles. The architecture is carried out in three steps: (i) analyzing the navigation problem to determine parameters of the architecture; (ii) designing the objective functions to relate input data with the desired output; and (iii) fusing the output of each objective function to generate the optimal control signal. We use fuzzy logic to design the objective functions and multi-objective optimization to find the Pareto optimal solution for the fusion. A number of simulations, comparisons, and experiments were conducted. The results show that the proposed architecture outperforms some popular behavior- based architectures in navigating the mobile robot in complex environments.
publisher: VNU
date: 2016
type: Article
type: PeerReviewed
format: application/pdf
language: en
identifier: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2354/1/3.%20Nguyen%20Thi%20Thanh%20Van%20164%2019-33%20OK.pdf
identifier:   Nguyen, Thi Thanh Van and Phung, Manh Duong and Dang, Anh Viet and Tran, Quang Vinh  (2016) A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments.  Journal of Science: Mathematics-Physics, 32 .    ISSN 0866-8612    (In Press)