{"id":"https://openalex.org/W1977364801","doi":"https://doi.org/10.1109/ascc.2013.6606195","title":"Control of omini-directional mobile vehicle for obstacle avoidance using potential function method","display_name":"Control of omini-directional mobile vehicle for obstacle avoidance using potential function method","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W1977364801","doi":"https://doi.org/10.1109/ascc.2013.6606195","mag":"1977364801"},"language":"en","primary_location":{"id":"doi:10.1109/ascc.2013.6606195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2013.6606195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 9th Asian Control Conference (ASCC)","raw_type":"proceedings-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/A5026873427","display_name":"Giang Hoang","orcid":null},"institutions":[{"id":"https://openalex.org/I8991828","display_name":"Pukyong National University","ror":"https://ror.org/0433kqc49","country_code":"KR","type":"education","lineage":["https://openalex.org/I8991828"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Giang Hoang","raw_affiliation_strings":["Department of Mechanical and Automotive Engineering Pukyong, National University, Pusan, South Korea","Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Pusan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automotive Engineering Pukyong, National University, Pusan, South Korea","institution_ids":["https://openalex.org/I8991828"]},{"raw_affiliation_string":"Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Pusan, South Korea","institution_ids":["https://openalex.org/I8991828"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110436164","display_name":"Hak Kyeong Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I8991828","display_name":"Pukyong National University","ror":"https://ror.org/0433kqc49","country_code":"KR","type":"education","lineage":["https://openalex.org/I8991828"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hak Kyeong Kim","raw_affiliation_strings":["Department of Mechanical and Automotive Engineering Pukyong, National University, Pusan, South Korea","Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Pusan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automotive Engineering Pukyong, National University, Pusan, South Korea","institution_ids":["https://openalex.org/I8991828"]},{"raw_affiliation_string":"Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Pusan, South Korea","institution_ids":["https://openalex.org/I8991828"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032919042","display_name":"Sang Bong Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I8991828","display_name":"Pukyong National University","ror":"https://ror.org/0433kqc49","country_code":"KR","type":"education","lineage":["https://openalex.org/I8991828"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang Bong Kim","raw_affiliation_strings":["Department of Mechanical and Automotive Engineering Pukyong, National University, Pusan, South Korea","Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Pusan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automotive Engineering Pukyong, National University, Pusan, South Korea","institution_ids":["https://openalex.org/I8991828"]},{"raw_affiliation_string":"Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Pusan, South Korea","institution_ids":["https://openalex.org/I8991828"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8991828"],"apc_list":null,"apc_paid":null,"fwci":0.2763,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57417616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8087233901023865},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7316560745239258},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.693596601486206},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6520304679870605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5667033791542053},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5632902383804321},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.554376482963562},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.554006040096283},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5283784866333008},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.522974967956543},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5109066367149353},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4684258699417114},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43128499388694763},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34709590673446655},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1373051106929779},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.1281476616859436},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12212318181991577},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08683809638023376},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08067557215690613}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8087233901023865},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7316560745239258},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.693596601486206},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6520304679870605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5667033791542053},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5632902383804321},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.554376482963562},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.554006040096283},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5283784866333008},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.522974967956543},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5109066367149353},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4684258699417114},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43128499388694763},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34709590673446655},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1373051106929779},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.1281476616859436},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12212318181991577},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08683809638023376},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08067557215690613},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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":1,"locations":[{"id":"doi:10.1109/ascc.2013.6606195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2013.6606195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 9th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1600280584","https://openalex.org/W2025409961","https://openalex.org/W2059051145","https://openalex.org/W2062029900","https://openalex.org/W2108988793","https://openalex.org/W2125409550","https://openalex.org/W2129209579","https://openalex.org/W2144849249","https://openalex.org/W2150531296"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W2050548713"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,20,37,56,86,102,106],"tracking":[4,93,135],"controller":[5,94,136],"for":[6,34,97,137],"obstacle":[7,138],"avoidance":[8,139],"of":[9,128,140],"an":[10],"omni-directional":[11,89],"mobile":[12,83],"vehicle":[13],"(OMV)":[14],"using":[15,115],"potential":[16,61],"function":[17,62],"method":[18,63,114],"through":[19],"ceiling-mounted":[21,38],"camera":[22,39],"system.":[23],"To":[24],"do":[25],"this":[26],"task,":[27],"the":[28,68,75,79,92,98,112,119,126,129,141],"followings":[29],"were":[30,51,122],"done.":[31],"At":[32],"first,":[33],"image":[35],"processing,":[36],"system":[40],"was":[41,64],"installed":[42],"to":[43,66,71,78,100,124],"get":[44],"images.":[45],"The":[46,82],"goal":[47,80],"point":[48,77],"and":[49,53,134],"obstacles":[50,73],"separated":[52],"recognized":[54],"by":[55,105],"color":[57],"recognition":[58],"method.":[59],"Second,":[60],"proposed":[65,130],"generate":[67],"shortest":[69],"path":[70,107],"avoid":[72],"from":[74],"start":[76],"point.":[81],"platform":[84],"is":[85,95],"mecanum":[87],"wheel":[88],"vehicle.":[90],"Third,":[91],"designed":[96],"OMV":[99],"track":[101],"trajectory":[103,131],"generated":[104],"planning":[108,132],"algorithm":[109,133],"based":[110],"on":[111],"backstepping":[113],"Lyapunov":[116],"function.":[117],"Finally,":[118],"simulation":[120],"results":[121],"presented":[123],"show":[125],"effectiveness":[127],"OMV.":[142]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}