relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2844/
title: A Robust Mobile Robot Navigation System using Neuro-Fuzzy Kalman Filtering and Optimal Fusion of Behavior-based Fuzzy Controllers
creator: Nguyen, Thi Thanh Van
creator: Le, Vu Ha
creator: Tran, Quang Vinh
subject: Electronics and Computer Engineering
description: 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.
publisher: REV
date: 2017
type: Article
type: PeerReviewed
identifier:   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).    ISSN 1859-387X    (In Press)  
relation: http://www.rev-jec.org
relation: http://dx.doi.org/10.21553/rev-jec.128