A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments 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: analyzing the navigation problem to determine parameters of the architecture; designing the objective functions to relate input data with the desired output; and fusing the output of each objective function to generate the optimal control signal. | VNU Journal of Science: Mathematics – Physics, Vol. 32, No. 3 (2016) 19-33 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 VNU University of Engineering and Technology, Hanoi, Vietnam Received 08 September 2016 Revised 20 September 2016; Accepted 30 September 2016 Abstract: 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. 1. Introduction Navigation is fundamental for mobile robot applications. In order to complete any given task, the robot first needs to have capability to safely reach the target [1]. Navigation of mobile robots thus has been receiving much research attention. The exiting methods can be classified into two main categories: hierarchical architectures and reactive or behavior-based architectures [2]. The hierarchical architecture operates through sequent steps of sensing, planning and acting based on known model of the environment. This architecture is thus appropriate for static and structured environments. For unknown or unstructured environments, the behavior-based architecture is often used. This .
