{"id":"https://openalex.org/W2025539091","doi":"https://doi.org/10.1108/01439911011018975","title":"The path\u2010tracking controller based on dynamic model with slip for one four\u2010wheeled OMR","display_name":"The path\u2010tracking controller based on dynamic model with slip for one four\u2010wheeled OMR","publication_year":2010,"publication_date":"2010-02-20","ids":{"openalex":"https://openalex.org/W2025539091","doi":"https://doi.org/10.1108/01439911011018975","mag":"2025539091"},"language":"en","primary_location":{"id":"doi:10.1108/01439911011018975","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911011018975","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5054704063","display_name":"Yanwen Huang","orcid":"https://orcid.org/0000-0003-0798-2249"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanwen Huang","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Cao","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048127002","display_name":"Chuntao Leng","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuntao Leng","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5054704063"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.4452,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.84883762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"37","issue":"2","first_page":"193","last_page":"201"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/slipping","display_name":"Slipping","score":0.8757553100585938},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7226831912994385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5877464413642883},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5705788135528564},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4469543695449829},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44627389311790466},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4276805520057678},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41006192564964294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3619290590286255},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34957069158554077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34685778617858887},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2907816171646118},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2791356146335602},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1653454303741455},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.06512460112571716},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.05706992745399475}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.8757553100585938},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7226831912994385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5877464413642883},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5705788135528564},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4469543695449829},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44627389311790466},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4276805520057678},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41006192564964294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3619290590286255},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34957069158554077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34685778617858887},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2907816171646118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2791356146335602},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1653454303741455},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.06512460112571716},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.05706992745399475},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439911011018975","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911011018975","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W130604711","https://openalex.org/W1607505686","https://openalex.org/W1966200340","https://openalex.org/W1996725112","https://openalex.org/W2043864321","https://openalex.org/W2046387417","https://openalex.org/W2052871783","https://openalex.org/W2054908067","https://openalex.org/W2068575845","https://openalex.org/W2091079565","https://openalex.org/W2095936905","https://openalex.org/W2102937854","https://openalex.org/W2104984075","https://openalex.org/W2111479185","https://openalex.org/W2131149087","https://openalex.org/W2132294818","https://openalex.org/W2145068019","https://openalex.org/W2150745354","https://openalex.org/W2152877900","https://openalex.org/W2158427401","https://openalex.org/W2158575902","https://openalex.org/W2166813059","https://openalex.org/W2167089508","https://openalex.org/W2181282840","https://openalex.org/W2266380092","https://openalex.org/W2417025712","https://openalex.org/W2544859900","https://openalex.org/W3160954918","https://openalex.org/W4292872153","https://openalex.org/W7011388478"],"related_works":["https://openalex.org/W3141131632","https://openalex.org/W2084206618","https://openalex.org/W2161039994","https://openalex.org/W3167844684","https://openalex.org/W2800387041","https://openalex.org/W3017142507","https://openalex.org/W4386154653","https://openalex.org/W4389155065","https://openalex.org/W2837391606","https://openalex.org/W3110003679"],"abstract_inverted_index":{"Purpose":[0],"This":[1,123],"paper":[2,54],"aims":[3],"to":[4,56,66,132,152,202,242],"propose":[5,67],"a":[6,23],"suitable":[7,69,213],"motion":[8,35,174,205],"control":[9,79,175,189,206],"method":[10,85,176,190],"for":[11,38,86,158,207,214,247],"omni\u2010directional":[12],"mobile":[13],"robots":[14],"(OMRs).":[15],"In":[16],"RoboCup":[17],"competition,":[18],"the":[19,50,90,99,106,113,128,134,149,154,167,172,227,235,244],"robot":[20],"moves":[21],"in":[22,47,105,112,160],"dynamic":[24,83,195],"and":[25,33,64,111,146,166,181,229],"oppositional":[26],"environment,":[27],"which":[28,75,211],"occurs":[29],"with":[30,62,142,197],"high":[31],"acceleration":[32],"deceleration":[34],"frequently,":[36],"especially":[37],"our":[39],"OMR":[40,159],"that":[41],"slipping":[42,225],"is":[43,55,95,121,125,144,199,212,231,240],"almost":[44],"inherently":[45],"encountered":[46],"motion.":[48],"Therefore,":[49],"purpose":[51],"of":[52,92,171,217],"this":[53,161],"present":[57],"one":[58,68,193,208,238,248],"improved":[59,194],"dynamical":[60],"model":[61,120,124,141,196,223],"slip,":[63],"then":[65],"path\u2010tracking":[70,135,245],"controller":[71],"based":[72,88,191],"on":[73,89,192,234],"it,":[74],"gives":[76],"more":[77],"accurate":[78],"result.":[80],"Design/methodology/approach":[81],"A":[82],"modeling":[84],"OMRs":[87],"theory":[91],"vehicle":[93],"dynamics":[94,119,140,222],"proposed.":[96],"By":[97],"analyzing":[98],"wheel":[100,107],"contact":[101],"friction":[102],"forces":[103],"both":[104],"hub":[108],"rolling":[109,115],"direction":[110],"roller":[114],"direction,":[116],"an":[117],"amendatory":[118,139,221],"presented.":[122,232],"introduced":[126,147],"into":[127,148],"computed\u2010torque\u2010like\u2010controller":[129],"(CTLC)":[130],"system":[131,151],"solve":[133,153,243],"problem.":[136],"Findings":[137],"An":[138],"slip":[143,198],"analyzed":[145],"CTLC":[150,239],"path":[155,187],"tracking":[156,169,188],"problem":[157,246],"paper.":[162],"The":[163,185],"anti\u2010disturbance":[164],"ability":[165],"trajectory":[168],"effect":[170],"proposed":[173,186],"are":[177],"proven":[178],"through":[179],"simulations":[180],"experiments.":[182],"Practical":[183],"implications":[184],"applied":[200],"successfully":[201],"achieve":[203],"effective":[204],"four\u2010wheel":[209,249],"OMR,":[210],"any":[215],"kind":[216],"OMR.":[218,250],"Originality/value":[219],"One":[220],"including":[224],"between":[226],"wheels":[228],"ground":[230],"Based":[233],"above\u2010slipping":[236],"model,":[237],"implemented":[241]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
