1. Full name: Nguyen Thi Thanh Van                                       2. Sex: Female

3. Date of birth: April-29-1979                                                4. Place of birht: Nam Định

5. Admission decision number: 4154/SĐH  Dated July - 17 - 2008.

6. Changes in academic process: No changes

7. Official thesis title: Study on efficiency improvement of localization and navigation for mobile robot in unknown environment.

8. Major: Electronic Engineering                                            9. Code: 62 52 02 03

10. Superviors:

Assoc.Prof. Dr Tran Quang Vinh

Dr Le Vu Ha

11. Summary of the new things of the thesis:

The neuro-fuzzy Kalman filter, called FNN-EKF, is proposed to improve the accuracy of localization process for mobile robot in unknown environment in which the measurement noise covariance matrix is adjusted by a fuzzy neural network at each iteration.

The novel behavior based navigation architecture, called BBFM, is proposed. The BBFM combines fuzzy logic to design each behavior independently and multiple objective optimization method to fuse control signals from behaviors. The BBFM effectively operates in navigation system for mobile robot in unknown environment with obstacles and local minimum regions.

12. Practical applicability, if any: apply in autonomous navigation system for monbile robot.

13. Futher research directions, if any:

-  Implement the FNN-EKF filter and the BBFM architecture on FPGA. This is basic to develop applied mobile robots.

-  Implement the BBFM on multi-robots with special tasks.

14. Thesis – related publications:

[1]. Nguyễn Thị Thanh Vân, Phùng Mạnh Dương, Phạm Đình Tuân, Trần Quang Vinh (2011), “Hệ thống rô bốt tuần tra dựa trên logic mờ ứng dụng trong hệ tự động hóa tòa nhà”, Tạp chí Tin học và Điều khiển học, Vol 27, No 1 (2011), pp 83-92.

[2]. Thi Thanh Van Nguyen, Manh Duong Phung, Thuan Hoang Tran, Quang Vinh Tran (2012), “Mobile Robot Localization using fuzzy neural network based extended Kalman filter”, 2012 IEEE International Conference on Control System, Computing and Engineering (ICCSCE), 23-25 Nov 2012, Penang, Malaysia, pp 416-421.

[3]. Nguyễn Thị Thanh Vân, Phùng Mạnh Dương, Trần Thuận Hoàng, Trần Quang Vinh (2013), “Dẫn đường cho robot di động kết hợp phương pháp điều khiển ổn định Lyapunov và điều khiển mờ”, Hội nghị toàn quốc lần thứ 2 về Điều khiển và Tự động hóa – VCCA -2013, 22-23/11/2013, Thành phố Đà nẵng, Việt nam, pp 140-147.

[4]. Nguyen Thi Thanh Van, Phung Manh Duong, Tran Thuan Hoang, Tran Quang Vinh (2013),  “Mobile Robot Localization using Fuzzy Neural Network based Extended Kalman Filter”, Journal of Computer Sicence and Cybernetics V.29, N.2, pp 119-131.

[5]. Thi Thanh Van Nguyen, Manh Duong Phung, Anh Viet Dang, Dinh Tuan Pham, Quang Vinh Tran (2013), “Development of a Behavior based Navigation System for Mobile Robot in Unknown Environment”, REV-2013: Hội nghị Quốc gia về Điện tử - Truyền thông, 17-18 December 2013, Ha noi, Viet nam, pp 112-117.

[6]. Nguyễn Thị Thanh Vân, Phùng Mạnh Dương, Đặng Anh Việt, Quách Công Hoàng, Trần Quang Vinh (2015), “Điều khiển dẫn đường hành vi cho robot di động hai bánh vi sai”, ECIT: Hội thảo Quốc gia 2015 về Điện tử truyền thông và Công nghệ thông tin, 10-11/12/2015, Thành phố Hồ Chí Minh, Việt nam, pp 450-455.

[7]. Thi Thanh Van Nguyen, Manh Duong Phung, Quang Vinh Tran (2017), “Behavior – based Navigation of Mobile Robot in Unknowns Environments Using Fuzzy Logic and Multi-Objective Optimization”, International Journal of Control and Automation (IJCA), Vol.10, No.2. pp 349-364.

[8]. Thi Thanh Van Nguyen, Ha Le Vu, Quang Vinh Tran, “A Robust Mobile Robot Navigation System using Neuro – Fuzzy Kalman Filtering and Optimal Fusion of Behavior-based Fuzzy Controllers”, REV Journal on Electronics and Telecommunications (REV – JEC), accepted.