Reactive Control Using Behavior Modelling of a Mobile Robot

  • Imen Ayari Institut National des Sciences Appliquées et de Technologie (INSAT) Centre Urbain Nord, BP. 676, 1080 Tunis Cedex, Tunisie
  • Abderrazak Chatti Institut National des Sciences Appliquées et de Technologie (INSAT) Centre Urbain Nord, BP. 676, 1080 Tunis Cedex, Tunisie


This paper deals with the reactive control of an autonomous robot which should move safely in a crowded unknown environment to reach a goal. A behavior based approach is used to realize obstacle avoidance within a neural model conceived from a set of examples of perception/action relations; supervised learning is used for the aim; while goal-reaching task is realized using a fuzzy rule-based system. A task activation module is used to generate the overall command, resulting from the fuzzy controller and the neural model. Real time simulation examples of generated path with proposed techniques are presented.


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How to Cite
AYARI, Imen; CHATTI, Abderrazak. Reactive Control Using Behavior Modelling of a Mobile Robot. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 2, n. 3, p. 217-228, sep. 2007. ISSN 1841-9844. Available at: <>. Date accessed: 07 july 2020. doi:


reactive control, mobile robots, neural networks, learning,fuzzy control