The real-time control of mobile robots in uncertain, dynamic environments is one of the major fields of the current research. The main objective of this paper is to find a suitable method to model different styles of guiding. Motivated by the chosen algorithm's (potential based guiding) limitations an extended method is presented. A common type neuro-fuzzy algorithm is developed which can approximate the proposed model. The extended model improves the modeling properties and eliminates some disadvantages of the PBG model.
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