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Conference Paper: Vehicle navigation strategy based on behavior fusion

TitleVehicle navigation strategy based on behavior fusion
Authors
KeywordsComputers
Cybernetics
Issue Date1997
PublisherIEEE.
Citation
Proceedings Of The Ieee International Conference On Systems, Man And Cybernetics, 1997, v. 4, p. 3698-3703 How to Cite?
AbstractIn 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 Identifierhttp://hdl.handle.net/10722/46069
ISSN

 

DC FieldValueLanguage
dc.contributor.authorYe, Cen_HK
dc.contributor.authorYung, NHCen_HK
dc.date.accessioned2007-10-30T06:41:52Z-
dc.date.available2007-10-30T06:41:52Z-
dc.date.issued1997en_HK
dc.identifier.citationProceedings Of The Ieee International Conference On Systems, Man And Cybernetics, 1997, v. 4, p. 3698-3703en_HK
dc.identifier.issn0884-3627en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46069-
dc.description.abstractIn 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.extent651670 bytes-
dc.format.extent10863 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartofProceedings of the IEEE International Conference on Systems, Man and Cyberneticsen_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.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectComputersen_HK
dc.subjectCyberneticsen_HK
dc.titleVehicle navigation strategy based on behavior fusionen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://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+fusionen_HK
dc.identifier.emailYung, NHC:nyung@eee.hku.hken_HK
dc.identifier.authorityYung, NHC=rp00226en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ICSMC.1997.633244en_HK
dc.identifier.scopuseid_2-s2.0-0031331505en_HK
dc.identifier.hkuros36933-
dc.identifier.volume4en_HK
dc.identifier.spage3698en_HK
dc.identifier.epage3703en_HK
dc.identifier.scopusauthoridYe, C=7202201245en_HK
dc.identifier.scopusauthoridYung, NHC=7003473369en_HK

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