%0 Journal Article
%@ 0866-8612
%A Nguyen, Thi Thanh Van
%A Phung, Manh Duong
%A Dang, Anh Viet
%A Tran, Quang Vinh
%D 2016
%F SisLab:2354
%I VNU
%J Journal of Science: Mathematics-Physics
%T A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments
%U https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2354/
%V 32
%X 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.