File Download
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/ICSMC.1997.633244
- Scopus: eid_2-s2.0-0031331505
- Find via
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Vehicle navigation strategy based on behavior fusion
Title | Vehicle navigation strategy based on behavior fusion |
---|---|
Authors | |
Keywords | Computers Cybernetics |
Issue Date | 1997 |
Publisher | IEEE. |
Citation | Proceedings Of The Ieee International Conference On Systems, Man And Cybernetics, 1997, v. 4, p. 3698-3703 How to Cite? |
Abstract | In this paper, a new navigation strategy based on the fusion of various behaviors to enable mobile vehicles to navigate in an unknown environment is described. The aim of this research is to fuse the two independent and sometimes conflicting behaviors: obstacle avoidance and goal seeking, such that the vehicle efficiently performs obstacle avoidance while seeking it's goal. The balance between these two behaviors is achieved by combining the control actions from the goal seeker and the obstacle avoidor through evaluating the goal vector magnitude, the minimum distance detected by the ultrasonic sensors, and the distance to the obstacle in the direction of the goal vector. Furthermore, an environment evaluator is used to enhance the adaptability of the navigator by tuning the universe of discourse of the sensor space. The new navigation strategy has been verified to be efficient in an indoor virtual environment. |
Persistent Identifier | http://hdl.handle.net/10722/46069 |
ISSN |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ye, C | en_HK |
dc.contributor.author | Yung, NHC | en_HK |
dc.date.accessioned | 2007-10-30T06:41:52Z | - |
dc.date.available | 2007-10-30T06:41:52Z | - |
dc.date.issued | 1997 | en_HK |
dc.identifier.citation | Proceedings Of The Ieee International Conference On Systems, Man And Cybernetics, 1997, v. 4, p. 3698-3703 | en_HK |
dc.identifier.issn | 0884-3627 | en_HK |
dc.identifier.uri | http://hdl.handle.net/10722/46069 | - |
dc.description.abstract | In this paper, a new navigation strategy based on the fusion of various behaviors to enable mobile vehicles to navigate in an unknown environment is described. The aim of this research is to fuse the two independent and sometimes conflicting behaviors: obstacle avoidance and goal seeking, such that the vehicle efficiently performs obstacle avoidance while seeking it's goal. The balance between these two behaviors is achieved by combining the control actions from the goal seeker and the obstacle avoidor through evaluating the goal vector magnitude, the minimum distance detected by the ultrasonic sensors, and the distance to the obstacle in the direction of the goal vector. Furthermore, an environment evaluator is used to enhance the adaptability of the navigator by tuning the universe of discourse of the sensor space. The new navigation strategy has been verified to be efficient in an indoor virtual environment. | en_HK |
dc.format.extent | 651670 bytes | - |
dc.format.extent | 10863 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.format.mimetype | text/plain | - |
dc.language | eng | en_HK |
dc.publisher | IEEE. | en_HK |
dc.relation.ispartof | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics | en_HK |
dc.rights | ©1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | - |
dc.subject | Computers | en_HK |
dc.subject | Cybernetics | en_HK |
dc.title | Vehicle navigation strategy based on behavior fusion | en_HK |
dc.type | Conference_Paper | en_HK |
dc.identifier.openurl | http://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1062-922X&volume=4&spage=3698&epage=3703&date=1997&atitle=Vehicle+navigation+strategy+based+on+behavior+fusion | en_HK |
dc.identifier.email | Yung, NHC:nyung@eee.hku.hk | en_HK |
dc.identifier.authority | Yung, NHC=rp00226 | en_HK |
dc.description.nature | published_or_final_version | en_HK |
dc.identifier.doi | 10.1109/ICSMC.1997.633244 | en_HK |
dc.identifier.scopus | eid_2-s2.0-0031331505 | en_HK |
dc.identifier.hkuros | 36933 | - |
dc.identifier.volume | 4 | en_HK |
dc.identifier.spage | 3698 | en_HK |
dc.identifier.epage | 3703 | en_HK |
dc.identifier.scopusauthorid | Ye, C=7202201245 | en_HK |
dc.identifier.scopusauthorid | Yung, NHC=7003473369 | en_HK |
dc.identifier.issnl | 0884-3627 | - |