Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot
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摘要
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
引文
[1]H.C.Huang,T.F.Wu,C.H.Yu,H.S.Hsu.Intelligent fuzzy motion control of three-wheeled omnidirectional mobile robots for trajectory tracking and stabilization.In Proceedings of International Conference on Fuzzy Theory and it′s Application,Taiwan,China,pp.421-426,2012.
[2]T.Kalmár-Nagy,R.D′Andrea,P.Ganguly.Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle.Robotics and Autonomous Systems,vol.46,no.1,pp.47-64,2004.DOI:10.1016/j.robot.2003.10.003.
[3]C.Ren,S.G.Ma.Generalized proportional integral observer based control of an omnidirectional mobile robot.Mechatronics,vol.26,pp.36-44,2015.DOI:10.1016/j.mechatronics.2015.01.001.
[4]Y.N.Zhang,T.Huang.Research on a tracked omnidirectional and cross-country vehicle.Mechanism and Machine Theory,vol.87,pp.18-44,2015.DOI:10.1016/j.mechmachtheory.2014.12.016.
[5]C.Ren,S.Ma,Y.Sun,C.Ye.A continuous dynamic modeling approach for an omnidirectional mobile robot.Advanced Robotics,vol.19,no.4,pp.253-271,2015.DOI:10.1080/01691864.2014.978372.
[6]H.Kim,B.K.Kim.Minimum-energy translational trajectory planning for battery-powered three-wheeled Omni-directional mobile robots.In Proceedings of the 10th International Conference on Control,Automation,Robotics and Vision,Hanoi,Vietnam,pp.1730-1735,2008.
[7]M.Takahashi,T.Suzuki,F.Cinquegrani,R.Sorbello,E.Pagello.A mobile robot for transport applications in hospital domain with safe human detection algorithm.In Proceedings of IEEE International Conference on Robotics and Biomimetics,Guilin,China,pp.1543-1548,2009.
[8]D.F.Luo,T.Schauer,M.Roth,J.Raisch.Position and orientation control of an omni-directional mobile rehabilitation robot.In Proceedings of IEEE International Conference on Control Applications,Dubrovnik,Croatia,pp.50-56,2012.
[9]F.Künemund,C.Kirsch,D.Heb,C.R?hrig.Fast and accurate trajectory generation for non-circular omnidirectional robots in industrial applications.In Proceedings of the 7th German Conference on Robotics,Munich,Germany,pp.377-382,2012.
[10]E.J.Jung,B.J.Yi.Study on intelligent human tracking algorithms with application to omni-directional service robots.In Proceedings of the 10th International Conference on Ubiquitous Robots and Ambient Intelligence,Jeju,Korea,pp.80-81,2013.
[11]Y.Inoue,T.Hirama,M.Wada.Design of omnidirectional mobile robots with ACROBAT wheel mechanisms.In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,Tokyo,Japan,pp.4852-4859,2013.
[12]S.G.Ma,C.Ren,C.L.Ye.An omnidirectional mobile robot:Concept and analysis.In Proceedings of IEEE International Conference on Robotics and Biomimetics,Guangzhou,China,pp.920-925,2012.
[13]C.L.Ye,S.G.Ma.Development of an omnidirectional mobile platform.In Proceedings of IEEE International Conference on Mechatronics and Automation,Changchun,China,pp.1111-1115,2009.
[14]B.A.Gebre,Z.Ryter,S.R.Humphreys,S.M.Ginsberg,S.P.Farrell,A.Kauffman,W.Capon,W.Robbins,K.Pochiraju.A multi-ball drive for omni-directional mobility:Prototyping a concept for a practical and agile omnidirectional mobility platform with the aid of 3D printing Technology.In IEEE International Conference on Technologies for Practical Robot Applications,Woburn,USA,2014.
[15]M.Tavakoli,C.Viegas,L.Marques,J.N.Pires,A.T.de Almeida.OmniClimbers:Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures.Robotics and Autonomous Systems,vol.61,no.9,pp.997-1007,2013.DOI:10.1016/j.robot.2013.05.005.
[16]M.Tavakoli,C.Viegas.Analysis and application of dualrow omnidirectional wheels for climbing robots.Mechatronics,vol.24,no.5,pp.436-448,2014.DOI:10.1016/j.mechatronics.2014.04.003.
[17]K.Watanabe,Y.Shiraishi,S.G.Tzafestas,J.Tang,T.Fukuda.Feedback control of an omnidirectional autonomous platform for mobile service robots.Journal of Intelligent and Robotic Systems,vol.22,no.3-4,pp.315-330,1998.
[18]C.Ren,S.G.Ma.Dynamic modeling and analysis of an omnidirectional mobile robot.In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,Tokyo,Japan,pp.4860-4865,2013.
[19]H.Kim,B.K.Kim.Online minimum-energy trajectory planning and control on a straight-line path for threewheeled omnidirectional mobile robots.IEEE Transactions on Industrial Electronics,vol.61,no.9,pp.4771-4779,2014.DOI:10.1109/TIE.2013.2293706.
[20]J.C.L.Barreto S.,A.G.S.Concei?āo,C.E.T.Dorea,L.Martinez,E.R.de Pieri.Design and implementation of model-predictive control with friction compensation on an omnidirectional mobile robot.IEEE/ASME Transactions on Mechatronics,vol.19,no.2,pp.467-476,2014.DOI:10.1109/TMECH.2013.2243161.
[21]M.A.Sharbafi,C.Lucas,R.Daneshvar.Motion control of omni-directional three-wheel robots by brain-emotionallearning-based intelligent controller.IEEE Transactions on Systems,Man,and Cybernetics,Part C(Applications And Reviews),vol.40,no.6,pp.630-638,2010.DOI:10.1109/TSMCC.2010.2049104.
[22]H.Sira-Ramirez,C.Lopez-Uribe,M.Velasco-Villa.Realtime linear control of the omnidirectional mobile robot.In Proceedings of the 49th IEEE Conference on Decision and Control,Atlanta,USA,pp.4263-4268,2010.
[23]H.Seraji,A.Howard.Behavior-based robot navigation on challenging terrain:A fuzzy logic approach.IEEE Transactions on Robotics and Automation,vol.18,no.3,pp.308-321,2002.DOI:10.1109/TRA.2002.1019461.
[24]C.C.Shing,P.L.Hsu,S.S.Yeh.T-S fuzzy path controller design for the omnidirectional mobile robot.In Proceedings of IECON the 32nd Annual Conference on IEEEIndustrial Electronics,Paris,France,pp.4142-4147,2006.
[25]Y.H.Wu,Z.F.Yuan.Motion compensation of omnidirectional wheel robot using neural networks.In Proceedings of 6th International Conference on Intelligent Systems Design and Applications,Ji′nan,China,pp.147-151,2006.
[26]Y.Jiang,S.Y.Wang,B.D.Bai.A neural-network-based robust control strategy applying to omnidirectional lower limbs rehabilitation robot during centre-of-gravity shift.In Proceedings of IEEE International Conference on Mechatronics and Automation,Changchun,China,pp.4907-4912,2009.
[27]H.C.Huang,C.C.Tsai,S.C.Lin.SoPC-based parallel elite genetic algorithm for global path planning of an autonomous omnidirectional mobile robot.In Proceedings of IEEE International Conference on Systems,Man and Cybernetics,San Antonio,USA,pp.1959-1964,2009.
[28]D.Xu,D.B.Zhao,J.Q.Yi,X.M.Tan.Trajectory tracking control of omnidirectional wheeled mobile manipulators:Robust neural network-based sliding mode approach.IEEE Transactions on Systems,Man,and Cybernetics,Part B(Cybernetics),vol.39,no.3,pp.788-799,2009.DOI:10.1109/TSMCB.2008.2009464.
[29]H.C.Huang,C.C.Tsai.Design of kinematic controller based on ant colony optimization computing method for omnidirectional mobile robots.In Proceedings of the 5th Conference on Industrial Electronics and Applications,Taiwan,China,pp.1287-1292,2010.
[30]H.C.Huang,C.C.Tsai.Particle swarm optimization algorithm for optimal configurations of an omnidirectional mobile service robot.In Proceedings of Annual Conference,Taiwan,China,pp.2872-2877,2010.
[31]C.C.Tsai,H.C.Huang,S.C.Lin.FPGA-based parallel DNA algorithm for optimal configurations of an omnidirectional mobile service robot performing fire extinguishment.IEEE Transactions on Industrial Electronics,vol.58,no.3,pp.1016-1026,2011.DOI:10.1109/TIE.2010.2048291.
[32]R.C.Arkin.Behavior-based Robotics,Cambridge,Massachusetts,USA:MIT Press,1998.
[33]R.A.Brooks.A Robust Layered Control System for a Mobile Robot,Technical Report AIM 864,Artificial Intelligence Laboratory,Massachusetts Institute of Technology,USA,pp.1-25,1985.
[34]R.C.Arkin.Motor schema-based mobile robot navigation.The International Journal of Robotics Research,vol.8,no.4,pp.92-112,1989.DOI:10.1177/027836498900800406.
[35]K.Izumi,K.Watanabe.Fuzzy behavior-based tracking control for a mobile robot.In Proceedings of the 2nd Asian Control Conference,Seoul,Korea,vol.1,pp.685-688,1997.
[36]K.Watanabe,K.Izumi.Construction of fuzzy behaviorbased control systems for a mobile robot.In Proceedings of the Third International Symposium on Artificial Life and Robotics,Beppu,Japan,vol.2,pp.518-523,1998.
[37]K.Izumi,K.Watanabe.Fuzzy behavior-based tracking control for an omnidirectional mobile robot.In Proceedings of the Third International Symposium on Artificial Life and Robotics,Beppu,Japan,vol.2,pp.524-527,1998.
[38]M.F.Selekwa,D.D.Dunlap,D.Q.Shi,E.G.Jr.Collins.Robot navigation in very cluttered environments by preference-based fuzzy behaviors.Robotics and Autonomous Systems,vol.56,no.3,pp.231-246,2008.DOI:10.1016/j.robot.2007.07.006.
[39]S.Zein-Sabatto,A.Sekmen,P.Koseeyaporn.Fuzzy behaviors for control of mobile robots.Systemics,Cybernetics and Informatics,vol.1,no.1,pp.68-74,2003.
[40]M.Wang,J.N.K.Liu.Fuzzy logic-based real-time robot navigation in unknown environment with dead ends.Robotics and Autonomous Systems,vol.56,no.7,pp.625-643,2008.DOI:10.1016/j.robot.2007.10.002.
[41]A.M.Rao,K.Ramji,B.S.K.Sundara Siva Rao,V.Vasu,C.Puneeth.Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm.International Journal of Automation and Computing,vol.14,no.3,pp.285-294,2017.DOI:10.1007/s11633-016-1042-y.
[42]D.Nada,M.Bousbia-Salah,M.Bettayeb.Multi-sensor data fusion for wheelchair position estimation with unscented Kalman filter.International Journal of Automation and Computing,vol.15,no.2,pp.207-217,2017.
[43]S.Naaz,A.Alam,R.Biswas.Effect of different defuzzification methods in a fuzzy based load balancing application.IJCSI International Journal of Computer Science Issues,vol.8,no.5,pp.261-267,2011.
[44]L.Banjanovic-Mehmedovic,D.Lukac,M.Suljic.Biologically based behavior as inspiration for mobile robots navigations.In Proceedings of IEEE EuroCon,Zagreb,Croatia,pp.1980-1987,2013.
[45]L.Cherroun,M.Boumehraz.Fuzzy behavior based navigation approach for mobile robot in unknown environment.Journal of Electrical Engineering,vol.13,no.4,pp.284-291,2013.
[46]H.W.Mo,Q.R.Tang,L.L.Meng.Behavior-based fuzzy control for mobile robot navigation.Mathematical Problems in Engineering,vol.2013,Article number 561451,2013.
[2]T.Kalmár-Nagy,R.D′Andrea,P.Ganguly.Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle.Robotics and Autonomous Systems,vol.46,no.1,pp.47-64,2004.DOI:10.1016/j.robot.2003.10.003.
[3]C.Ren,S.G.Ma.Generalized proportional integral observer based control of an omnidirectional mobile robot.Mechatronics,vol.26,pp.36-44,2015.DOI:10.1016/j.mechatronics.2015.01.001.
[4]Y.N.Zhang,T.Huang.Research on a tracked omnidirectional and cross-country vehicle.Mechanism and Machine Theory,vol.87,pp.18-44,2015.DOI:10.1016/j.mechmachtheory.2014.12.016.
[5]C.Ren,S.Ma,Y.Sun,C.Ye.A continuous dynamic modeling approach for an omnidirectional mobile robot.Advanced Robotics,vol.19,no.4,pp.253-271,2015.DOI:10.1080/01691864.2014.978372.
[6]H.Kim,B.K.Kim.Minimum-energy translational trajectory planning for battery-powered three-wheeled Omni-directional mobile robots.In Proceedings of the 10th International Conference on Control,Automation,Robotics and Vision,Hanoi,Vietnam,pp.1730-1735,2008.
[7]M.Takahashi,T.Suzuki,F.Cinquegrani,R.Sorbello,E.Pagello.A mobile robot for transport applications in hospital domain with safe human detection algorithm.In Proceedings of IEEE International Conference on Robotics and Biomimetics,Guilin,China,pp.1543-1548,2009.
[8]D.F.Luo,T.Schauer,M.Roth,J.Raisch.Position and orientation control of an omni-directional mobile rehabilitation robot.In Proceedings of IEEE International Conference on Control Applications,Dubrovnik,Croatia,pp.50-56,2012.
[9]F.Künemund,C.Kirsch,D.Heb,C.R?hrig.Fast and accurate trajectory generation for non-circular omnidirectional robots in industrial applications.In Proceedings of the 7th German Conference on Robotics,Munich,Germany,pp.377-382,2012.
[10]E.J.Jung,B.J.Yi.Study on intelligent human tracking algorithms with application to omni-directional service robots.In Proceedings of the 10th International Conference on Ubiquitous Robots and Ambient Intelligence,Jeju,Korea,pp.80-81,2013.
[11]Y.Inoue,T.Hirama,M.Wada.Design of omnidirectional mobile robots with ACROBAT wheel mechanisms.In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,Tokyo,Japan,pp.4852-4859,2013.
[12]S.G.Ma,C.Ren,C.L.Ye.An omnidirectional mobile robot:Concept and analysis.In Proceedings of IEEE International Conference on Robotics and Biomimetics,Guangzhou,China,pp.920-925,2012.
[13]C.L.Ye,S.G.Ma.Development of an omnidirectional mobile platform.In Proceedings of IEEE International Conference on Mechatronics and Automation,Changchun,China,pp.1111-1115,2009.
[14]B.A.Gebre,Z.Ryter,S.R.Humphreys,S.M.Ginsberg,S.P.Farrell,A.Kauffman,W.Capon,W.Robbins,K.Pochiraju.A multi-ball drive for omni-directional mobility:Prototyping a concept for a practical and agile omnidirectional mobility platform with the aid of 3D printing Technology.In IEEE International Conference on Technologies for Practical Robot Applications,Woburn,USA,2014.
[15]M.Tavakoli,C.Viegas,L.Marques,J.N.Pires,A.T.de Almeida.OmniClimbers:Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures.Robotics and Autonomous Systems,vol.61,no.9,pp.997-1007,2013.DOI:10.1016/j.robot.2013.05.005.
[16]M.Tavakoli,C.Viegas.Analysis and application of dualrow omnidirectional wheels for climbing robots.Mechatronics,vol.24,no.5,pp.436-448,2014.DOI:10.1016/j.mechatronics.2014.04.003.
[17]K.Watanabe,Y.Shiraishi,S.G.Tzafestas,J.Tang,T.Fukuda.Feedback control of an omnidirectional autonomous platform for mobile service robots.Journal of Intelligent and Robotic Systems,vol.22,no.3-4,pp.315-330,1998.
[18]C.Ren,S.G.Ma.Dynamic modeling and analysis of an omnidirectional mobile robot.In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,Tokyo,Japan,pp.4860-4865,2013.
[19]H.Kim,B.K.Kim.Online minimum-energy trajectory planning and control on a straight-line path for threewheeled omnidirectional mobile robots.IEEE Transactions on Industrial Electronics,vol.61,no.9,pp.4771-4779,2014.DOI:10.1109/TIE.2013.2293706.
[20]J.C.L.Barreto S.,A.G.S.Concei?āo,C.E.T.Dorea,L.Martinez,E.R.de Pieri.Design and implementation of model-predictive control with friction compensation on an omnidirectional mobile robot.IEEE/ASME Transactions on Mechatronics,vol.19,no.2,pp.467-476,2014.DOI:10.1109/TMECH.2013.2243161.
[21]M.A.Sharbafi,C.Lucas,R.Daneshvar.Motion control of omni-directional three-wheel robots by brain-emotionallearning-based intelligent controller.IEEE Transactions on Systems,Man,and Cybernetics,Part C(Applications And Reviews),vol.40,no.6,pp.630-638,2010.DOI:10.1109/TSMCC.2010.2049104.
[22]H.Sira-Ramirez,C.Lopez-Uribe,M.Velasco-Villa.Realtime linear control of the omnidirectional mobile robot.In Proceedings of the 49th IEEE Conference on Decision and Control,Atlanta,USA,pp.4263-4268,2010.
[23]H.Seraji,A.Howard.Behavior-based robot navigation on challenging terrain:A fuzzy logic approach.IEEE Transactions on Robotics and Automation,vol.18,no.3,pp.308-321,2002.DOI:10.1109/TRA.2002.1019461.
[24]C.C.Shing,P.L.Hsu,S.S.Yeh.T-S fuzzy path controller design for the omnidirectional mobile robot.In Proceedings of IECON the 32nd Annual Conference on IEEEIndustrial Electronics,Paris,France,pp.4142-4147,2006.
[25]Y.H.Wu,Z.F.Yuan.Motion compensation of omnidirectional wheel robot using neural networks.In Proceedings of 6th International Conference on Intelligent Systems Design and Applications,Ji′nan,China,pp.147-151,2006.
[26]Y.Jiang,S.Y.Wang,B.D.Bai.A neural-network-based robust control strategy applying to omnidirectional lower limbs rehabilitation robot during centre-of-gravity shift.In Proceedings of IEEE International Conference on Mechatronics and Automation,Changchun,China,pp.4907-4912,2009.
[27]H.C.Huang,C.C.Tsai,S.C.Lin.SoPC-based parallel elite genetic algorithm for global path planning of an autonomous omnidirectional mobile robot.In Proceedings of IEEE International Conference on Systems,Man and Cybernetics,San Antonio,USA,pp.1959-1964,2009.
[28]D.Xu,D.B.Zhao,J.Q.Yi,X.M.Tan.Trajectory tracking control of omnidirectional wheeled mobile manipulators:Robust neural network-based sliding mode approach.IEEE Transactions on Systems,Man,and Cybernetics,Part B(Cybernetics),vol.39,no.3,pp.788-799,2009.DOI:10.1109/TSMCB.2008.2009464.
[29]H.C.Huang,C.C.Tsai.Design of kinematic controller based on ant colony optimization computing method for omnidirectional mobile robots.In Proceedings of the 5th Conference on Industrial Electronics and Applications,Taiwan,China,pp.1287-1292,2010.
[30]H.C.Huang,C.C.Tsai.Particle swarm optimization algorithm for optimal configurations of an omnidirectional mobile service robot.In Proceedings of Annual Conference,Taiwan,China,pp.2872-2877,2010.
[31]C.C.Tsai,H.C.Huang,S.C.Lin.FPGA-based parallel DNA algorithm for optimal configurations of an omnidirectional mobile service robot performing fire extinguishment.IEEE Transactions on Industrial Electronics,vol.58,no.3,pp.1016-1026,2011.DOI:10.1109/TIE.2010.2048291.
[32]R.C.Arkin.Behavior-based Robotics,Cambridge,Massachusetts,USA:MIT Press,1998.
[33]R.A.Brooks.A Robust Layered Control System for a Mobile Robot,Technical Report AIM 864,Artificial Intelligence Laboratory,Massachusetts Institute of Technology,USA,pp.1-25,1985.
[34]R.C.Arkin.Motor schema-based mobile robot navigation.The International Journal of Robotics Research,vol.8,no.4,pp.92-112,1989.DOI:10.1177/027836498900800406.
[35]K.Izumi,K.Watanabe.Fuzzy behavior-based tracking control for a mobile robot.In Proceedings of the 2nd Asian Control Conference,Seoul,Korea,vol.1,pp.685-688,1997.
[36]K.Watanabe,K.Izumi.Construction of fuzzy behaviorbased control systems for a mobile robot.In Proceedings of the Third International Symposium on Artificial Life and Robotics,Beppu,Japan,vol.2,pp.518-523,1998.
[37]K.Izumi,K.Watanabe.Fuzzy behavior-based tracking control for an omnidirectional mobile robot.In Proceedings of the Third International Symposium on Artificial Life and Robotics,Beppu,Japan,vol.2,pp.524-527,1998.
[38]M.F.Selekwa,D.D.Dunlap,D.Q.Shi,E.G.Jr.Collins.Robot navigation in very cluttered environments by preference-based fuzzy behaviors.Robotics and Autonomous Systems,vol.56,no.3,pp.231-246,2008.DOI:10.1016/j.robot.2007.07.006.
[39]S.Zein-Sabatto,A.Sekmen,P.Koseeyaporn.Fuzzy behaviors for control of mobile robots.Systemics,Cybernetics and Informatics,vol.1,no.1,pp.68-74,2003.
[40]M.Wang,J.N.K.Liu.Fuzzy logic-based real-time robot navigation in unknown environment with dead ends.Robotics and Autonomous Systems,vol.56,no.7,pp.625-643,2008.DOI:10.1016/j.robot.2007.10.002.
[41]A.M.Rao,K.Ramji,B.S.K.Sundara Siva Rao,V.Vasu,C.Puneeth.Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm.International Journal of Automation and Computing,vol.14,no.3,pp.285-294,2017.DOI:10.1007/s11633-016-1042-y.
[42]D.Nada,M.Bousbia-Salah,M.Bettayeb.Multi-sensor data fusion for wheelchair position estimation with unscented Kalman filter.International Journal of Automation and Computing,vol.15,no.2,pp.207-217,2017.
[43]S.Naaz,A.Alam,R.Biswas.Effect of different defuzzification methods in a fuzzy based load balancing application.IJCSI International Journal of Computer Science Issues,vol.8,no.5,pp.261-267,2011.
[44]L.Banjanovic-Mehmedovic,D.Lukac,M.Suljic.Biologically based behavior as inspiration for mobile robots navigations.In Proceedings of IEEE EuroCon,Zagreb,Croatia,pp.1980-1987,2013.
[45]L.Cherroun,M.Boumehraz.Fuzzy behavior based navigation approach for mobile robot in unknown environment.Journal of Electrical Engineering,vol.13,no.4,pp.284-291,2013.
[46]H.W.Mo,Q.R.Tang,L.L.Meng.Behavior-based fuzzy control for mobile robot navigation.Mathematical Problems in Engineering,vol.2013,Article number 561451,2013.