TY  - INPR
ID  - SisLab2354
UR  - https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2354/
A1  - Nguyen, Thi Thanh Van
A1  - Phung, Manh Duong
A1  - Dang, Anh Viet
A1  - Tran, Quang Vinh
Y1  - 2016///
N2  - 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.
PB  - VNU
JF  - Journal of Science: Mathematics-Physics
VL  - 32
SN  - 0866-8612
TI  - A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments
AV  - public
ER  -