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

Nguyen, Thi Thanh Van; Phung, Manh Duong; Dang, Anh Viet; Tran, Quang Vinh

2588-1124; http://repository.vnu.edu.vn/handle/VNU_123/55506

Truy cập trực tuyến

  • Nhan đề:
    A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments
  • Tác giả: Nguyen, Thi Thanh Van; Phung, Manh Duong; Dang, Anh Viet; Tran, Quang Vinh
  • Chủ đề: Behavior-based navigation; fuzzy logic; multi-objective optimization; mobile robot
  • Mô tả: p. 19-33
    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.
  • Nhan đề liên quan: Vol. 32; No. 3 (2016)
  • Nơi xuất bản: H. : ĐHQGHN
  • Năm xuất bản: 2016
  • Định dạng: application/pdf
  • Ngôn ngữ: English
  • Số nhận dạng: 2588-1124; http://repository.vnu.edu.vn/handle/VNU_123/55506

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