{"id":"https://openalex.org/W2058927747","doi":"https://doi.org/10.1017/s0263574700016908","title":"Optimal kinematic path tracking control of mobile robots with front steering","display_name":"Optimal kinematic path tracking control of mobile robots with front steering","publication_year":1994,"publication_date":"1994-11-01","ids":{"openalex":"https://openalex.org/W2058927747","doi":"https://doi.org/10.1017/s0263574700016908","mag":"2058927747"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700016908","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700016908","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063835540","display_name":"Ahmad Hemami","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"A. Hemami","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112526304","display_name":"M.G. Mehrabi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. G. Mehrabi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5054175456","display_name":"R. M. H. Cheng","orcid":"https://orcid.org/0000-0003-3274-5130"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. M. H. Cheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.9421,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.96084496,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"12","issue":"6","first_page":"563","last_page":"568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7772267460823059},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7757115364074707},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5088220238685608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5072236061096191},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4989893436431885},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4704655110836029},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.452564537525177},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42600396275520325},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3864337205886841},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3230903148651123},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2736015021800995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26031801104545593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10476580262184143},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0915381908416748}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7772267460823059},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7757115364074707},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5088220238685608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5072236061096191},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4989893436431885},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4704655110836029},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.452564537525177},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42600396275520325},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3864337205886841},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3230903148651123},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2736015021800995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26031801104545593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10476580262184143},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0915381908416748},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574700016908","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700016908","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:publications.polymtl.ca:33223","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/33223/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article de revue"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W656447925","https://openalex.org/W1936189409","https://openalex.org/W1981424476","https://openalex.org/W2007315742","https://openalex.org/W2010269338","https://openalex.org/W2046387417","https://openalex.org/W2049887123","https://openalex.org/W2069090754","https://openalex.org/W2081385979","https://openalex.org/W2108412767","https://openalex.org/W2113640862","https://openalex.org/W2133066324","https://openalex.org/W2138648515","https://openalex.org/W2145068019","https://openalex.org/W2396639740","https://openalex.org/W6645606838","https://openalex.org/W6652002662"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W2897178038","https://openalex.org/W2979398413","https://openalex.org/W1532677580","https://openalex.org/W2386719143"],"abstract_inverted_index":{"Summary":[0],"This":[1],"work":[2],"concerns":[3],"the":[4,17,83,88,96,102,105,109,113,120,124,133,136,149,153,158,174,180],"class":[5],"of":[6,16,21,51,53,62,135,148,152,160,173],"wheeled":[7],"mobile":[8],"robots":[9],"with":[10],"single":[11],"axis":[12],"front":[13],"steering.":[14],"Because":[15],"relatively":[18],"low":[19],"speed":[20,151,164,175],"these":[22],"vehicles":[23],"their":[24,31],"dynamic":[25],"properties":[26],"have":[27],"little":[28],"effect":[29,178],"on":[30,39,179],"path":[32,67,100],"tracking":[33],"behaviour.":[34],"Their":[35],"motion":[36,52,89],"is,":[37],"moreover,":[38],"a":[40,55,80,99],"flat":[41],"environment":[42],"and":[43,95,104,123],"can":[44,57],"be":[45,58],"assumed":[46],"two":[47,121],"dimensional.":[48],"The":[49,92,130,141],"kinematics":[50],"such":[54,79],"vehicle":[56,154],"utilized":[59],"for":[60,65,132,163],"design":[61],"control":[63,74,110],"strategies":[64],"maintaining":[66],"following":[68],"stability.":[69],"In":[70],"this":[71],"paper,":[72],"optimal":[73,116],"technique":[75],"is":[76,108,127,144],"implemented":[77],"to":[78,112,118],"system.":[81,114],"First,":[82],"state":[84],"space":[85],"equations":[86],"governing":[87],"are":[90,139],"derived.":[91],"orientation":[93],"error":[94],"offset":[97],"from":[98],"form":[101],"states":[103],"steering":[106,125],"angle":[107,126],"input":[111],"An":[115],"controller":[117,142,181],"minimize":[119],"errors":[122],"then":[128],"sought.":[129],"conditions":[131],"existence":[134],"feedback":[137],"matrix":[138],"discussed.":[140],"structure":[143],"defined":[145],"in":[146],"terms":[147],"forward":[150],"and,":[155],"thus,":[156],"has":[157,176],"advantage":[159],"being":[161],"flexible":[162],"changes.":[165],"Numerical":[166],"illustrative":[167],"examples,":[168],"however,":[169],"demonstrate":[170],"that":[171],"variation":[172],"no":[177],"structure.":[182]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
