eprintid: 2666
rev_number: 8
eprint_status: archive
userid: 281
dir: disk0/00/00/26/66
datestamp: 2017-11-23 07:10:45
lastmod: 2017-11-23 07:10:45
status_changed: 2017-11-23 07:10:45
type: article
metadata_visibility: show
creators_name: Nguyen, Thi Thanh Van
creators_name: Le, Vu Ha
creators_name: Tran, Quang Vinh
creators_id: vanntt@vnu.edu.vn
creators_id: halv@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
title: A Robust Mobile Robot Navigation System using Neuro-Fuzzy Kalman Filtering and Optimal Fusion of Behavior-based Fuzzy Controllers
ispublished: pub
subjects: ECE
divisions: fac_fit
abstract: This study proposes a control system model for mobile robots navigating in unknown environments. The proposed model includes a neuro-fuzzy Extended Kalman Filter for localization task and a behaviorbased fuzzy multi-controller navigation module. The neuro-fuzzy EKF, used for estimating the robot’s position from sensor readings, is an enhanced EKF whose noise covariance matrix is progressively adjusted by a fuzzy neural network. The navigation module features a series of independently-executed fuzzy controllers, each deals with a specific navigation sub-task, or behavior, and a multi-objective optimizer to coordinate all behaviors. The membership functions of all fuzzy controllers play the roles of objective functions for the optimizer, which produces an overall Pareto-optimal control signal to drive the robot. A number of simulations and real-world experiments were conducted to evaluate the performance of this model.
date: 2017-10-30
date_type: published
publisher: REV
official_url: http://rev-jec.org
id_number: doi:10.21553/rev-jec.128
full_text_status: none
publication: REV Journal on Electronics and Communications
volume: 7
number: 1-2
pagerange: 47-56
refereed: TRUE
issn: 1859-387X
related_url_url: http://rev-jec.org/index.php/rev-jec/article/view/128
related_url_type: pub
citation:   Nguyen, Thi Thanh Van and Le, Vu Ha and Tran, Quang Vinh  (2017) A Robust Mobile Robot Navigation System using Neuro-Fuzzy Kalman Filtering and Optimal Fusion of Behavior-based Fuzzy Controllers.  REV Journal on Electronics and Communications, 7  (1-2).   pp. 47-56.  ISSN 1859-387X