... Robotics and Autonomous Systems 38 (2002) 1–18Sensor-based navigation of a mobile robot inan indoor environmentH. Maaref∗, C. BarretCEMIF—Complex Systems Group, University of Evry, ... Mobile robot; Reactive navigation; Fuzzy inference systems; On-line optimization1. IntroductionVarious methods for controlling mobile robot systems have been developed which are generally∗Corresponding ... AcademicPublishers, Dordrecht, 1991.[13] C.C. Lee, Fuzzy logic in control systems: Fuzzy logiccontroller, Parts I and II, IEEE Transactions on Systems, Manand Cybernetics 20 (2) (1990) 404–435.[14] H. Maaref,...