{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T13:23:55Z","timestamp":1765545835864,"version":"3.41.2"},"reference-count":30,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2013,2,1]],"date-time":"2013-02-01T00:00:00Z","timestamp":1359676800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2013,2,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present an implementation of a soft\u2010computing (SC) based navigation approach on a bi\u2010steerable mobile robot, Robucar. This approach must provide Robucar with capability to acquire the obstacle avoidance, target localization, decision\u2010making and action behaviors after learning and adaptation. This approach uses three neural networks (NN) and fuzzy logic (FL) controller to achieve the desired task. The NNs corresponding to the obstacle avoidance and target localization are trained using the back\u2010propagation algorithm and the last one is based on the reinforcement learning paradigm while the FL controller uses the Mamdani search and match algorithm. Simulation and experimental results are presented, showing the effectiveness of the overall navigation control system.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>In this paper, an interesting navigation approach is applied to a car\u2010like robot, Robucar, with addition of an action behavior to deal with the generation of smooth motions. Indeed, this approach is based on four basic behaviors; three of them are fused under a neural paradigm using Gradient Back\u2010Propagation (GBP) and reinforcement learning (RL) algorithms and the last behavior uses a FL controller. It uses a set of suggested rules to describe the control policy to achieve the action behavior.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>In the implemented SC\u2010based navigation, the intelligent behaviors necessary to the navigation are acquired by learning using GBP algorithm and adaptation using FL. The proposed approach provides Robucar with more autonomy, intelligence and real\u2010time processing capabilities. Indeed, the proposed NNs and FLC are able to remedy problems of analytical approaches, missing or incorrect environment knowledge and uncertainties which can lead to undesirable effects as the rough velocity changes. The simulation and experimental results display the ability of the proposed SC\u2010based navigation approach to provide Robucar with capability to intelligently navigate in a priori unknown environment, illustrating the robustness and adaptation capabilities of the approach.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>This work can be extended to consider mobile obstacles with a velocity higher than the velocity of the robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper presents a learning approach to navigating a bi\u2010steerable mobile robot in an unknown environment using GBP and RL paradigms.<\/jats:p><\/jats:sec>","DOI":"10.1108\/03684921311310594","type":"journal-article","created":{"date-parts":[[2013,3,25]],"date-time":"2013-03-25T14:21:55Z","timestamp":1364221315000},"page":"241-267","source":"Crossref","is-referenced-by-count":7,"title":["Soft\u2010computing based navigation approach for a bi\u2010steerable mobile robot"],"prefix":"10.1108","volume":"42","author":[{"given":"Ouahiba","family":"Azouaoui","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Noureddine","family":"Ouadah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ibrahim","family":"Mansour","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ali","family":"Semani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Salim","family":"Aouana","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Djafer","family":"Chabi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022021619513339700_b1","doi-asserted-by":"crossref","unstructured":"Anderson, J.A. (1995), An Introduction to Neural Networks, The MIT Press, Cambridge, MA.","DOI":"10.7551\/mitpress\/3905.001.0001"},{"key":"key2022021619513339700_b2","unstructured":"Avina Cervantes, J.G. (2005), \u201cNavigation visuelle d'un robot mobile dans un environnement d'ext\u00e9rieur semi\u2010structur\u00e9\u201d, PhD thesis, Institut National Polytechnique de Toulouse, Toulouse."},{"key":"key2022021619513339700_b5","unstructured":"Azouaoui, O. and Chohra, A. (2002), \u201cSoft computing based pattern classifiers for the obstacle avoidance behavior of intelligent autonomous vehicles (IAV)\u201d, Applied Intelligence: The International J. of Artificial Intelligence, Neural Networks, and Complex Problem\u2010Solving Technologies, Vol. 16 No. 3, pp. 249\u201071."},{"key":"key2022021619513339700_b4","unstructured":"Azouaoui, O. and Chohra, A. (2003), \u201cPattern classifiers based on soft computing and their FPGA integration for intelligent behavior control of mobile robots\u201d, Proc. IEEE 11th Int. Conf. on Advanced Robotics ICAR'2003, Coimbra, Portugal, pp. 148\u201054."},{"key":"key2022021619513339700_b3","unstructured":"Azouaoui, O., Ouadah, N., Aouana, S. and Chabi, D. (2008), \u201cNeural\u2010based navigation approach for a bi\u2010steerable mobile robot\u201d, in Aschermann, H. (Ed.), New Approaches in Automation and Robotics, I\u2010Tech Education and Publishing, Vienna, pp. 43\u201054."},{"key":"key2022021619513339700_b6","unstructured":"Bento, L.C. and Nunes, U. (2004), \u201cAutonomous navigation control with magnetic markers guidance of a cybernetic car using fuzzy logic\u201d, Machine Intelligence and Robotic Control, Vol. 6 No. 1, pp. 1\u201010."},{"key":"key2022021619513339700_b7","unstructured":"Buhler, H. (1994), R\u00e9glage par la logique floue, Presse Polytechnique et Universitaire Romandes, Lausanne."},{"key":"key2022021619513339700_b8","doi-asserted-by":"crossref","unstructured":"Chohra, A., Benmehrez, C. and Farah, A. (1998), \u201cNeural navigation approach for intelligent autonomous vehicles (IAV) in partially structured environments\u201d, International Journal of Applied Intelligence: Artificial Intelligence, Neural Networks, and Complex Problem\u2010Solving Technologies, Vol. 8 No. 3, pp. 219\u201033.","DOI":"10.1023\/A:1008216400353"},{"key":"key2022021619513339700_b9","unstructured":"Dumortier, Y.R., Benenson, M. and Kais, M. (2006), \u201cReal\u2010time vehicle motion estimation using texture learning and monocular vision\u201d, paper presented at International Conference on Computer Vision and Graphics, Varsaw."},{"key":"key2022021619513339700_b10","doi-asserted-by":"crossref","unstructured":"Fraichard, T. and Garnier, P. (2001), \u201cFuzzy control to drive car\u2010like vehicles\u201d, Journal of Robotics and Autonomous Systems, Vol. 34, pp. 1\u201022.","DOI":"10.1016\/S0921-8890(00)00096-8"},{"key":"key2022021619513339700_b11","unstructured":"Freeman, J.A. and Skapura, D.M. (1992), Neural Networks: Algorithms, Applications, and Programming Techniques, Addison\u2010Wesley, Reading, MA."},{"key":"key2022021619513339700_b12","doi-asserted-by":"crossref","unstructured":"Gu, D. and Hu, H. (2002), \u201cNeural predictive control for a car\u2010like mobile robot\u201d, International Journal of Robotics and Autonomous Systems, Vol. 39 Nos 2\/3.","DOI":"10.1016\/S0921-8890(02)00172-0"},{"key":"key2022021619513339700_b13","unstructured":"Hong, T., Rasmussen, C., Chang, T. and Shneier, M. (2002), \u201cFusing ladar and color image information for mobile robot feature detection and tracking\u201d, Proc. of the 7th Int. Conf. on Intelligent Systems."},{"key":"key2022021619513339700_b14","doi-asserted-by":"crossref","unstructured":"Kujawski, C. (1995), \u201cDeciding the behaviour of an autonomous mobile road vehicle\u201d, Proc. 2nd Int. IFAC Conf. Intelligent Autonomous Vehicles, Helsinki, Finland, pp. 404\u20109.","DOI":"10.1016\/B978-0-08-042366-1.50067-1"},{"key":"key2022021619513339700_b15","unstructured":"Labakhua, L., Nunes, U., Rodrigues, R. and Leite, F.S. (2006), \u201cSmooth trajectory planning for fully automated passengers vehicles\u201d, Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation."},{"key":"key2022021619513339700_b16","unstructured":"Mendes, A., Bento, L.C. and Nunes, U. (2003), \u201cPath\u2010tracking controller with an anti\u2010collision behavior of a bi\u2010steerable cybernetic car\u201d, Proc. 9th IEEE Int. Conference on Emerging Technologies and Factory Automation (ETFA 2003), Lisboa, Portugal, pp. 613\u201019."},{"key":"key2022021619513339700_b17","doi-asserted-by":"crossref","unstructured":"Moreno, L., Puente, E.A. and Salichs, M.A. (1992), \u201cWorld modelling and sensor data fusion in a non static environment: application to mobile robots\u201d, Proc. Int. IFAC Conf. Intelligent Components and Instruments for Control Applications, Malaga, Spain, pp. 433\u20106.","DOI":"10.1016\/S1474-6670(17)50944-1"},{"key":"key2022021619513339700_b18","doi-asserted-by":"crossref","unstructured":"Murphy, R.R. (2001), \u201cFuzzy logic for fusion of tactical influences on vehicle speed control\u201d, in Driankov, D. and Saffiotti, A. (Eds), Fuzzy Logic Techniques for Autonomous Vehicle Navigation, Springer, Berlin.","DOI":"10.1007\/978-3-7908-1835-2_4"},{"key":"key2022021619513339700_b19","doi-asserted-by":"crossref","unstructured":"Niegel, W. (1995), \u201cMethodical structuring of knowledge used in an intelligent driving system\u201d, Proc. 2nd Int. IFAC Conf. Intelligent Autonomous Vehicles, Helsinki, Finland, pp. 398\u2010403.","DOI":"10.1016\/B978-0-08-042366-1.50066-X"},{"key":"key2022021619513339700_b20","doi-asserted-by":"crossref","unstructured":"Parent, M. (2007), \u201cAdvanced urban transport: automation is on the way\u201d, IEEE Intelligent Systems, Vol. 22 No. 2, pp. 9\u201011.","DOI":"10.1109\/MIS.2007.20"},{"key":"key2022021619513339700_b21","unstructured":"Pedrycz, W. (1988), Fuzzy Control and Fuzzy Systems, Wiley, New York, NY."},{"key":"key2022021619513339700_b23","unstructured":"Schafer, B.H. (2005), \u201cDetection of negative obstacles in outdoor terrain\u201d, Technical Report, Kaiserlautern University of Technology, Kaiserslautern."},{"key":"key2022021619513339700_b24","doi-asserted-by":"crossref","unstructured":"Schilling, K. and Jungius, C. (1995), \u201cMobile robots for planetary exploration\u201d, Proc. 2nd Int. IFAC Conf. Intelligent Autonomous Vehicles, Helsinki, Finland, pp. 110\u201020.","DOI":"10.1016\/B978-0-08-042366-1.50022-1"},{"key":"key2022021619513339700_b25","unstructured":"SICK (2001), \u201cHardware setup and measurement mode configuration\u201d, Quick Manual for LMS Communication Setup, SICK AG, Waldkirch."},{"key":"key2022021619513339700_b27","unstructured":"Sorouchyari, E. (1989), \u201cMobile robot navigation: a neural network approach\u201d, Proc. Art Coll. Neuro., Eco. Poly., Lausanne, pp. 159\u201075."},{"key":"key2022021619513339700_b28","doi-asserted-by":"crossref","unstructured":"Sutton, R.S. and Barto, A. (1998), Reinforcement Learning: An Introduction, The MIT Press, Cambridge, MA.","DOI":"10.1109\/TNN.1998.712192"},{"key":"key2022021619513339700_b29","unstructured":"Wagner, B. (2006), \u201cELROB 2006\u201d, Technical Paper, University of Hannover, Hannover."},{"key":"key2022021619513339700_b31","doi-asserted-by":"crossref","unstructured":"Zadeh, L.A. (1965), \u201cFuzzy sets\u201d, Information & Control, Vol. 8, pp. 338\u201053.","DOI":"10.1016\/S0019-9958(65)90241-X"},{"key":"key2022021619513339700_b30","unstructured":"Zadeh, L.A. (1992), \u201cThe calculus of fuzzy if\/then rules\u201d, AI Expert, Vol. 7 No. 3, pp. 23\u20107."},{"key":"key2022021619513339700_frd1","doi-asserted-by":"crossref","unstructured":"Pradihar, D.K., Mahendar, V. and Hui, N.B. (2006), \u201cTime optimal, collision\u2010free navigation of a car\u2010like mobile robot using neuro\u2010fuzzy approaches\u201d, Journal of Fuzzy Sets and Systems, Vol. 157, pp. 2171\u2010204.","DOI":"10.1016\/j.fss.2006.04.004"}],"container-title":["Kybernetes"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/03684921311310594","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/03684921311310594\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/03684921311310594\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:27:47Z","timestamp":1753399667000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/k\/article\/42\/2\/241-267\/273358"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,2,1]]},"references-count":30,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2013,2,1]]}},"alternative-id":["10.1108\/03684921311310594"],"URL":"https:\/\/doi.org\/10.1108\/03684921311310594","relation":{},"ISSN":["0368-492X"],"issn-type":[{"type":"print","value":"0368-492X"}],"subject":[],"published":{"date-parts":[[2013,2,1]]}}}