{"id":"https://openalex.org/W2028197759","doi":"https://doi.org/10.1108/03684921311310594","title":"Soft\u2010computing based navigation approach for a bi\u2010steerable mobile robot","display_name":"Soft\u2010computing based navigation approach for a bi\u2010steerable mobile robot","publication_year":2013,"publication_date":"2013-02-01","ids":{"openalex":"https://openalex.org/W2028197759","doi":"https://doi.org/10.1108/03684921311310594","mag":"2028197759"},"language":"en","primary_location":{"id":"doi:10.1108/03684921311310594","is_oa":false,"landing_page_url":"https://doi.org/10.1108/03684921311310594","pdf_url":null,"source":{"id":"https://openalex.org/S168682784","display_name":"Kybernetes","issn_l":"0368-492X","issn":["0368-492X","1758-7883"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Kybernetes","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007777913","display_name":"Ouahiba Azouaoui","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Ouahiba Azouaoui","raw_affiliation_strings":["Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070405723","display_name":"Ouadah Noureddine","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Noureddine Ouadah","raw_affiliation_strings":["Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023602202","display_name":"Ibrahim Mansour","orcid":"https://orcid.org/0000-0003-3657-202X"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Ibrahim Mansour","raw_affiliation_strings":["Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062300582","display_name":"A. Semani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Ali Semani","raw_affiliation_strings":["Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028245680","display_name":"Salim Aouana","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Salim Aouana","raw_affiliation_strings":["Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021089037","display_name":"Djafer Chabi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Djafer Chabi","raw_affiliation_strings":["Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es (CDTA), Baba Hassen, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210102186"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.09993261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"42","issue":"2","first_page":"241","last_page":"267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7531929016113281},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7183688879013062},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7031156420707703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6373872756958008},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6364157795906067},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5942751169204712},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5055677890777588},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5035197138786316},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.48615261912345886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4646351635456085},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4562474489212036},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42217379808425903}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7531929016113281},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7183688879013062},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7031156420707703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6373872756958008},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6364157795906067},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5942751169204712},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5055677890777588},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5035197138786316},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48615261912345886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4646351635456085},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4562474489212036},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42217379808425903},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/03684921311310594","is_oa":false,"landing_page_url":"https://doi.org/10.1108/03684921311310594","pdf_url":null,"source":{"id":"https://openalex.org/S168682784","display_name":"Kybernetes","issn_l":"0368-492X","issn":["0368-492X","1758-7883"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Kybernetes","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W8699340","https://openalex.org/W68482640","https://openalex.org/W143319976","https://openalex.org/W154163115","https://openalex.org/W163775228","https://openalex.org/W1486695323","https://openalex.org/W1493971325","https://openalex.org/W1529790005","https://openalex.org/W1531808999","https://openalex.org/W1540249308","https://openalex.org/W1545867734","https://openalex.org/W1566378994","https://openalex.org/W1603455683","https://openalex.org/W1954090178","https://openalex.org/W2003248131","https://openalex.org/W2074484281","https://openalex.org/W2093820741","https://openalex.org/W2121863487","https://openalex.org/W2145485591","https://openalex.org/W2615936209","https://openalex.org/W2673845946","https://openalex.org/W2912565176","https://openalex.org/W4211007335","https://openalex.org/W4214717370","https://openalex.org/W4234171694","https://openalex.org/W4234718669","https://openalex.org/W4255867264","https://openalex.org/W6632013831"],"related_works":["https://openalex.org/W2906946336","https://openalex.org/W2938416672","https://openalex.org/W2146611987","https://openalex.org/W4289599435","https://openalex.org/W2155757393","https://openalex.org/W2098534227","https://openalex.org/W3126153333","https://openalex.org/W1995204376","https://openalex.org/W2046187727","https://openalex.org/W1528255171"],"abstract_inverted_index":{"Purpose":[0],"The":[1,63,221,266],"purpose":[2],"of":[3,11,110,133,142,155,184,245,274,299,320],"this":[4,118,146],"paper":[5,325],"is":[6,83,124,148],"to":[7,31,58,66,126,137,187,192,207,242,258,280,285,309,330],"present":[8],"an":[9,120,134,337],"implementation":[10],"a":[12,19,127,160,177,182,289,314,327,332],"soft\u2010computing":[13],"(SC)":[14],"based":[15,84,149],"navigation":[16,113,122,209,278],"approach":[17,25,47,123,147,223,279,329],"on":[18,85,150],"bi\u2010steerable":[20,333],"mobile":[21,311,334],"robot,":[22,129],"Robucar.":[23],"This":[24,46,304,324],"must":[26],"provide":[27,281],"Robucar":[28,225,282],"with":[29,131,139,226,283,313],"capability":[30,284],"acquire":[32],"the":[33,60,67,76,80,86,91,95,108,111,140,173,189,194,199,203,208,235,262,272,275,294,300,318,321],"obstacle":[34,68],"avoidance,":[35],"target":[36,71],"localization,":[37],"decision\u2010making":[38],"and":[39,44,53,70,79,98,102,167,172,217,230,238,253,268,296,342],"action":[40,135,195],"behaviors":[41,205],"after":[42],"learning":[43,88,169,213,328],"adaptation.":[45],"uses":[48,94,176,181],"three":[49,154],"neural":[50,161],"networks":[51],"(NN)":[52],"fuzzy":[54],"logic":[55],"(FL)":[56],"controller":[57,93],"achieve":[59,193],"desired":[61],"task.":[62],"NNs":[64,237],"corresponding":[65],"avoidance":[69],"localization":[72],"are":[73,105,157,210,240],"trained":[74],"using":[75,163,214,219,340],"back\u2010propagation":[77],"algorithm":[78,216],"last":[81,174],"one":[82],"reinforcement":[87,168],"paradigm":[89,162],"while":[90],"FL":[92,178],"Mamdani":[96],"search":[97],"match":[99],"algorithm.":[100],"Simulation":[101],"experimental":[103,269],"results":[104,270],"presented,":[106],"showing":[107],"effectiveness":[109],"overall":[112],"control":[114,190],"system.":[115],"Design/methodology/approach":[116],"In":[117,198],"paper,":[119],"interesting":[121],"applied":[125],"car\u2010like":[128],"Robucar,":[130],"addition":[132],"behavior":[136,175],"deal":[138],"generation":[141],"smooth":[143],"motions.":[144],"Indeed,":[145,234],"four":[151],"basic":[152],"behaviors;":[153],"them":[156],"fused":[158],"under":[159],"Gradient":[164],"Back\u2010Propagation":[165],"(GBP)":[166],"(RL)":[170],"algorithms":[171],"controller.":[179],"It":[180],"set":[183],"suggested":[185],"rules":[186],"describe":[188],"policy":[191],"behavior.":[196],"Findings":[197],"implemented":[200],"SC\u2010based":[201,277],"navigation,":[202],"intelligent":[204],"necessary":[206],"acquired":[211],"by":[212],"GBP":[215,341],"adaptation":[218,297],"FL.":[220],"proposed":[222,236,276],"provides":[224],"more":[227],"autonomy,":[228],"intelligence":[229],"real\u2010time":[231],"processing":[232],"capabilities.":[233],"FLC":[239],"able":[241],"remedy":[243],"problems":[244],"analytical":[246],"approaches,":[247],"missing":[248],"or":[249],"incorrect":[250],"environment":[251,339],"knowledge":[252],"uncertainties":[254],"which":[255],"can":[256,306],"lead":[257],"undesirable":[259],"effects":[260],"as":[261],"rough":[263],"velocity":[264,315,319],"changes.":[265],"simulation":[267],"display":[271],"ability":[273],"intelligently":[286],"navigate":[287],"in":[288,336],"priori":[290],"unknown":[291,338],"environment,":[292],"illustrating":[293],"robustness":[295],"capabilities":[298],"approach.":[301],"Research":[302],"limitations/implications":[303],"work":[305],"be":[307],"extended":[308],"consider":[310],"obstacles":[312],"higher":[316],"than":[317],"robot.":[322],"Originality/value":[323],"presents":[326],"navigating":[331],"robot":[335],"RL":[343],"paradigms.":[344]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
