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Long The Pham
Center of Simulation Technology, Le Quy Don Technical University 100 Hoang Quoc Viet St., Cau Giay Dist., Ha Noi
Biochemistry, Genetics & Molecular Biology Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Mathematics

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AN APPROACH DESIGNING AUTONOMOUS ROBOT NAVIGATION SYSTEM BASED ON BEHAVIOR COORDINATION Long Thanh Ngo; Long The Pham; Phuong Hoang Nguyen
ASEAN Journal on Science and Technology for Development Vol. 24 No. 4 (2007): ASEAN Journal on Science and Technology for Development (AJSTD)
Publisher : Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (295.643 KB) | DOI: 10.29037/ajstd.212

Abstract

Robot navigation using fuzzy behavior is suited in unknown and unstructured environment in which each behavior have an individual task. This paper deals with an approach designing autonomous robot navigation system based on fuzzy behaviors including collision avoidance, wall-following, go-to-target. The proposed hierarchy of fuzzy behaviors is used to fuse the command in which each behavior is a fuzzy inference system and its outputs are fuzzy sets. Its inputs are information fused from sensors using fuzzy directional relationship. The simulation results with some statistics show that the system works correctly. 
Co-Authors Long Thanh Ngo Phuong Hoang Nguyen