Source: https://www.researchgate.net/profile/Mohamed_Mourad_Lafifi/post/I_need_help_to_develop_neuro-fuzzy_controller_for_mobile_robot_Anyone_could_help_who_has_practical_experience/attachment/5d15e41b3843b0b98258a7c0/AS%3A774705841729536%401561715674005/download/Application+of+Neuro-Fuzzy+Controller+for+Sumo+Robot+control+-+Erdem2011.pdf