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Eleven sensory prototypes of local environments are presented to design the environment classifier, which needs to memorize only rough information, for solving the problems of poor obstacle clearance and sensor noise. A switching control strategy and multi-behaviors coordinator are developed without detailed environmental knowledge and heavy computation burden, for avoiding the local minimum traps or oscillation problems and adapt to the unknown environments. Also, a serial behaviors control law is constructed on the basis of Lyapunov stability theory aiming at the specialized environment, for realizing stable navigation and avoiding actuator saturation. Moreover, both environment classifier and multi-behavior coordination controller are amenable to the addition of new environment models or new behaviors due to the modularity of the hierarchical architecture of P systems. The simulation of wheeled mobile robots shows the effectiveness of this approach.<\/jats:p>","DOI":"10.3233\/ica-200627","type":"journal-article","created":{"date-parts":[[2020,5,8]],"date-time":"2020-05-08T18:46:40Z","timestamp":1588963600000},"page":"119-140","source":"Crossref","is-referenced-by-count":34,"title":["Multi-behaviors coordination controller design with enzymatic numerical P systems for robots"],"prefix":"10.1177","volume":"28","author":[{"given":"Xueyuan","family":"Wang","sequence":"first","affiliation":[{"name":"School of Information Engineering, Southwest University of Science and Technology, Mianyang, Sichuan, China"},{"name":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, China"}]},{"given":"Gexiang","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Information Science and Technology, Chengdu University of Technology, Chengdu, Sichuan, China"},{"name":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, China"}]},{"given":"Xiantai","family":"Gou","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, China"}]},{"given":"Prithwineel","family":"Paul","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, China"}]},{"given":"Ferrante","family":"Neri","sequence":"additional","affiliation":[{"name":"COL Laboratory, School of Computer Science, University of Nottingham, Nottingham, UK"}]},{"given":"Haina","family":"Rong","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, China"}]},{"given":"Qiang","family":"Yang","sequence":"additional","affiliation":[{"name":"College of Control Engineering, Chengdu University of Information Technology, Chengdu, Sichuan, China"}]},{"given":"Hua","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Southwest University of Science and Technology, Mianyang, Sichuan, China"}]}],"member":"179","reference":[{"issue":"1","key":"10.3233\/ICA-200627_ref1","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1006\/jcss.1999.1693","article-title":"Computing with membranes","volume":"61","author":"P\u0103un","year":"2000","journal-title":"Journal of Computer and System Sciences"},{"key":"10.3233\/ICA-200627_ref2","doi-asserted-by":"crossref","unstructured":"P\u0103un G. 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