{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T16:36:44Z","timestamp":1783096604362,"version":"3.54.6"},"reference-count":33,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2014,9,2]],"date-time":"2014-09-02T00:00:00Z","timestamp":1409616000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2014,11]]},"abstract":"<jats:p>Artificial potential field and fuzzy logic are efficient approaches for mobile robots autonomous navigation. However, both have advantages and drawbacks. Their integration into a common control scheme can significantly improve the performances of the resulting hybrid controller. In this article, we propose a novel hybrid approach in order to better exploit their advantages. The present work contributes in three aspects: first, the proposed control scheme integrates interval type-2 fuzzy logic concepts with artificial potential field concepts into a common framework in order to better exploit their advantages. Second, the proposed control scheme is a simple and realizable design for real-time implementation because only 15 fuzzy rules are sufficient to control the mobile robot. Third, the proposed control scheme is a synthesized design which utilizes both heuristic knowledge and the sampled input\u2013output data pairs. An implementation in real-time on an omnidirectional mobile robot validates the effectiveness of the proposed control scheme.<\/jats:p>","DOI":"10.1177\/0959651814548300","type":"journal-article","created":{"date-parts":[[2014,9,3]],"date-time":"2014-09-03T05:05:28Z","timestamp":1409720728000},"page":"787-801","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":13,"title":["A novel approach to integrate artificial potential field and fuzzy logic into a common framework for robots autonomous navigation"],"prefix":"10.1177","volume":"228","author":[{"given":"Achille","family":"Melingui","sequence":"first","affiliation":[{"name":"LAGIS UMR CNRS 8219, Polytech\u2019Lille, Villeneuve d\u2019Ascq, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rochdi","family":"Merzouki","sequence":"additional","affiliation":[{"name":"LAGIS UMR CNRS 8219, Polytech\u2019Lille, Villeneuve d\u2019Ascq, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jean Bosco","family":"Mbede","sequence":"additional","affiliation":[{"name":"Electrical Engineering and Telecommunications Department, \u00c9cole Nationale Sup\u00e9rieure Polytechnique, The University of Yaound\u00e9 1, Yaound\u00e9, Cameroon"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Taha","family":"Chettibi","sequence":"additional","affiliation":[{"name":"LMS, UERMA, EMP, Algiers, Algeria"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2014,9,2]]},"reference":[{"key":"bibr1-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313112"},{"key":"bibr2-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2076825"},{"key":"bibr3-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2142470"},{"key":"bibr4-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2011.2109332"},{"key":"bibr5-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2013.2294914"},{"key":"bibr6-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"bibr7-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE631"},{"key":"bibr8-0959651814548300","first-page":"1924","volume-title":"Proceedings of the 2013 IEEE international conference on robotics and biomimetics (ROBIO)","author":"Melingui A"},{"key":"bibr9-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(00)00073-7"},{"key":"bibr10-0959651814548300","first-page":"316","volume":"1","author":"Waren CW","year":"1989","journal-title":"IEEE Int Conf Robot"},{"key":"bibr11-0959651814548300","first-page":"1398","volume-title":"Proceedings of the IEEE international conference on robotics and automation","author":"Koren Y"},{"key":"bibr12-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2012.6324661"},{"key":"bibr13-0959651814548300","first-page":"622","volume-title":"Proceedings of the sixth international conference on intelligent systems design and applications, ISDA\u201906","volume":"2","author":"Zhu Q"},{"key":"bibr14-0959651814548300","first-page":"536","volume-title":"Proceedings of the 1993 IEEE international symposium on intelligent control","author":"Janabi-Sharifi F"},{"key":"bibr15-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE400"},{"key":"bibr16-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2011.2104364"},{"key":"bibr17-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2009.02.014"},{"key":"bibr18-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/91.995115"},{"key":"bibr19-0959651814548300","volume-title":"Uncertain rule-based fuzzy logic systems: introduction and new directions","author":"Mendel J","year":"2001"},{"key":"bibr20-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/91.811231"},{"key":"bibr21-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2004.832538"},{"key":"bibr22-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/70.954761"},{"key":"bibr23-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2011.01.027"},{"key":"bibr24-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1016\/S0360-8352(98)00136-3"},{"issue":"4","key":"bibr25-0959651814548300","first-page":"85","volume":"5","author":"Song Q","year":"2012","journal-title":"Int J Hybrid Inf Technol"},{"key":"bibr26-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2002.803496"},{"key":"bibr27-0959651814548300","first-page":"63","volume-title":"Proceedings of the 2012 IEEE\/ASME international conference on mechatronics and embedded systems and applications (MESA)","author":"Mbede JB"},{"key":"bibr28-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1016\/0020-0255(75)90036-5"},{"key":"bibr29-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2012.2186818"},{"key":"bibr30-0959651814548300","doi-asserted-by":"publisher","DOI":"10.1109\/21.199466"},{"key":"bibr31-0959651814548300","first-page":"1","volume-title":"Proceedings of the 2010 IEEE international conference on automation quality and testing robotics (AQTR)","author":"Oltean SE"},{"key":"bibr32-0959651814548300","first-page":"11","volume-title":"Proceedings of the IEEE international conference open systems","author":"Wahab MNA"},{"issue":"11","key":"bibr33-0959651814548300","first-page":"13688","volume":"10","author":"Petrovic I","year":"2011","journal-title":"Expert Syst Appl"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651814548300","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651814548300","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651814548300","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:32:09Z","timestamp":1777674729000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651814548300"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,9,2]]},"references-count":33,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2014,11]]}},"alternative-id":["10.1177\/0959651814548300"],"URL":"https:\/\/doi.org\/10.1177\/0959651814548300","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,9,2]]}}}