%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