%0 Journal Article
	%A Selim Yannier and  Asif Sabanovic and  Ahmet Onat and  Muhammet Bastan
	%D 2007
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 12, 2007
	%T Sliding Mode Based Behavior Control
	%U https://publications.waset.org/pdf/11065
	%V 12
	%X In this work, we suggested a new approach for the
control of a mobile robot capable of being a building block of an
intelligent agent. This approach includes obstacle avoidance and goal
tracking implemented as two different sliding mode controllers. A
geometry based behavior arbitration is proposed for fusing the two
outputs. Proposed structure is tested on simulations and real robot.
Results have confirmed the high performance of the method.
	%P 784 - 789