eprintid: 2354
rev_number: 11
eprint_status: archive
userid: 351
dir: disk0/00/00/23/54
datestamp: 2016-12-29 12:52:51
lastmod: 2017-01-12 16:10:17
status_changed: 2016-12-29 12:52:51
type: article
metadata_visibility: show
creators_name: Nguyen, Thi Thanh Van
creators_name: Phung, Manh Duong
creators_name: Dang, Anh Viet
creators_name: Tran, Quang Vinh
creators_id: vanntt@vnu.edu.vn
creators_id: duongpm@vnu.edu.vn
creators_id: vietda@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
title: A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments
ispublished: inpress
subjects: ElectronicsandComputerEngineering
subjects: Mechanics
subjects: Phys
divisions: fac_fet
abstract: 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.
date: 2016
date_type: published
publisher: VNU
full_text_status: public
publication: Journal of Science: Mathematics-Physics
volume: 32
refereed: TRUE
issn: 0866-8612
citation:   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)  
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2354/1/3.%20Nguyen%20Thi%20Thanh%20Van%20164%2019-33%20OK.pdf