eprintid: 2391
rev_number: 13
eprint_status: archive
userid: 285
dir: disk0/00/00/23/91
datestamp: 2017-06-14 09:49:48
lastmod: 2017-06-14 09:49:48
status_changed: 2017-06-14 09:49:48
type: article
metadata_visibility: show
creators_name: Nguyen, Thi Thanh Van
creators_name: Phung, Manh Duong
creators_name: Tran, Quang Vinh
creators_id: vanntt@vnu.edu.vn
creators_id: duongpm@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
title: Behavior-based Navigation of Mobile Robot in Unknown Environments Using Fuzzy Logic and Multi-Objective Optimization
ispublished: pub
subjects: ECE
subjects: isi
divisions: fac_fet
abstract: This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex navigation task is split into principal sub-tasks or behaviors. Each behavior is implemented by a fuzzy controller and executed independently to deal with a specific problem of navigation. The fuzzy controller is modified to contain only the fuzzification and inference procedures so that its output is a membership function representing the behavior’s objective. The membership functions of all controllers are then used as the objective functions for a multi-objective optimization process to coordinate all behaviors. The result of this process is an overall control signal, which is Pareto-optimal, used to control the robot. A number of simulations, comparisons, and experiments were conducted. The results show that the proposed architecture outperforms some popular behaviorbased architectures in term of accuracy, smoothness, traveled distance, and time response.
date: 2017-02
date_type: published
publisher: SERSC
official_url: http://dx.doi.org/10.14257/ijca.2017.10.2.29
id_number: 10.14257/ijca.2017.10.2.29
full_text_status: public
publication: International Journal of Control and Automation
volume: 10
number: 1
pagerange: 349-364
refereed: TRUE
issn: 2005-4297
citation:   Nguyen, Thi Thanh Van and Phung, Manh Duong and Tran, Quang Vinh  (2017) Behavior-based Navigation of Mobile Robot in Unknown Environments Using Fuzzy Logic and Multi-Objective Optimization.  International Journal of Control and Automation, 10  (1).   pp. 349-364.  ISSN 2005-4297     
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2391/1/%5B29%5D%20Behavior-based%20Navigation%20of%20Mobile%20Robot%20in%20%20%20%20%20%20Unknown.pdf