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A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments

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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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

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