A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments
| Autor: | Dang Anh Viet, Phung Manh Duong, Nguyen Thi Thanh Van, Đào Thị Làn, Tran Quang Vinh |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering 010504 meteorology & atmospheric sciences business.industry Mobile robot Control engineering 02 engineering and technology 01 natural sciences Mobile robot navigation 020901 industrial engineering & automation Human–computer interaction Reference architecture Architecture business 0105 earth and related environmental sciences |
| Zdroj: | VNU Journal of Science: Mathematics - Physics. 32 |
| ISSN: | 2588-1124 2615-9341 |
| DOI: | 10.25073/2588-1124/vnumap.4049 |
| Popis: | 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. Keywords: Behavior-based navigation, fuzzy logic, multi-objective optimization, mobile robot. |
| Databáze: | OpenAIRE |
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