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A Novel Behavior-based Navigation Architecture of Mobile Robot in Unknown Environments

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Figure

Fig. 1. Two approaches to command fusion: (a) Defuzzificating and then combining,  (b) Combining and then defuzzificating
Fig. 2. The block diagram of BBFM architecture.
Fig. 3. Configuration of the differential drive wheeled mobile robot.
Fig. 4. Arrangement of utrasonic sensors on the robot.
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