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dc.contributor.authorNguyen, Thi Thanh Van-
dc.contributor.authorPhung, Manh Duong-
dc.contributor.authorDang, Anh Viet-
dc.contributor.authorTran, Quang Vinh-
dc.date.accessioned2017-08-07T03:04:34Z-
dc.date.available2017-08-07T03:04:34Z-
dc.date.issued2016-
dc.identifier.issn2588-1124-
dc.identifier.urihttp://repository.vnu.edu.vn/handle/VNU_123/55506-
dc.descriptionp. 19-33en_US
dc.description.abstractThis 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.en_US
dc.language.isoenen_US
dc.publisherH. : ĐHQGHNen_US
dc.relation.ispartofseriesVol. 32;No. 3 (2016)-
dc.subjectBehavior-based navigationen_US
dc.subjectfuzzy logicen_US
dc.subjectmulti-objective optimizationen_US
dc.subjectmobile roboten_US
dc.titleA Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environmentsen_US
dc.typeArticleen_US
Appears in Collections:Mathematics and Physics


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  • Full metadata record
    DC FieldValueLanguage
    dc.contributor.authorNguyen, Thi Thanh Van-
    dc.contributor.authorPhung, Manh Duong-
    dc.contributor.authorDang, Anh Viet-
    dc.contributor.authorTran, Quang Vinh-
    dc.date.accessioned2017-08-07T03:04:34Z-
    dc.date.available2017-08-07T03:04:34Z-
    dc.date.issued2016-
    dc.identifier.issn2588-1124-
    dc.identifier.urihttp://repository.vnu.edu.vn/handle/VNU_123/55506-
    dc.descriptionp. 19-33en_US
    dc.description.abstractThis 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.en_US
    dc.language.isoenen_US
    dc.publisherH. : ĐHQGHNen_US
    dc.relation.ispartofseriesVol. 32;No. 3 (2016)-
    dc.subjectBehavior-based navigationen_US
    dc.subjectfuzzy logicen_US
    dc.subjectmulti-objective optimizationen_US
    dc.subjectmobile roboten_US
    dc.titleA Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environmentsen_US
    dc.typeArticleen_US
    Appears in Collections:Mathematics and Physics


  • TL10.pdf
    • Size : 1,67 MB

    • Format : Adobe PDF

    • View : 
    • Download :