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)
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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.
| Item Type: | Article |
|---|---|
| Subjects: | Electronics and Communications > Electronics and Computer Engineering Engineering Mechanics Engineering Physics |
| Divisions: | Faculty of Electronics and Telecommunications (FET) |
| Depositing User: | Nguy�n Th |
| Date Deposited: | 29 Dec 2016 12:52 |
| Last Modified: | 12 Jan 2017 16:10 |
| URI: | http://eprints.uet.vnu.edu.vn/eprints/id/eprint/2354 |
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