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Mathematical Problems in Engineering
Volume 2018, Article ID 9315925, 11 pages
Research Article

A Multiagent Architecture for Mobile Robot Navigation Using Hierarchical Fuzzy and Sliding Mode Controllers

1Control and Energy Management Lab (CEM Lab), Sousse Engineering School, University of Sousse, BP 264, Sousse Erriadh, 4023 Sousse, Tunisia
2Control and Energy Management Lab (CEM Lab), Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia

Correspondence should be addressed to Dorra Ayedi; rf.oohay@iideya.arrod

Received 29 September 2017; Revised 18 December 2017; Accepted 16 January 2018; Published 13 February 2018

Academic Editor: Rafael Morales

Copyright © 2018 Dorra Ayedi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The challenge of this work is to implement an algorithm which enables the robot to achieve independent activities in the purpose of achieving a common goal, which consists in autonomous navigation in a partially unknown environment. The use of multiagent system is convenient for such a problem. Hence, we have designed a structure composed of four agents dedicated to perception, navigation, static, and dynamic obstacle avoidance. Those agents interact through a coordination system.