A. L. Saleh, M. J. Mohammed, A. Sabri Kadhim, H. M. Raadthy, and H. J. Mohammed, “Design fuzzy neural petri net controller for trajectory tracking control of mobile robot”, IJET, vol. 7, no. 4, pp. 2256–2262, Sep. 2018, doi: 10.14419/ijet.v7i4.16700.