{"id":"https://openalex.org/W2761631461","doi":"https://doi.org/10.1109/ccta.2017.8062663","title":"Design, implementation, and experimental validation of a cascaded trajectory tracking controller for nonholonomic car-like wheeled mobile robots with velocity and steering controllers in the loops","display_name":"Design, implementation, and experimental validation of a cascaded trajectory tracking controller for nonholonomic car-like wheeled mobile robots with velocity and steering controllers in the loops","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2761631461","doi":"https://doi.org/10.1109/ccta.2017.8062663","mag":"2761631461"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062663","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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/A5108424373","display_name":"Chang Boon Low","orcid":null},"institutions":[{"id":"https://openalex.org/I28490864","display_name":"DSO National Laboratories","ror":"https://ror.org/03e05fb06","country_code":"SG","type":"nonprofit","lineage":["https://openalex.org/I28490864"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Chang Boon Low","raw_affiliation_strings":["Info Division, DSO National Laboratories, Singapore"],"affiliations":[{"raw_affiliation_string":"Info Division, DSO National Laboratories, Singapore","institution_ids":["https://openalex.org/I28490864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5108424373"],"corresponding_institution_ids":["https://openalex.org/I28490864"],"apc_list":null,"apc_paid":null,"fwci":1.6232,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.78857143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1452","last_page":"1459"},"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":0.9994000196456909,"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":0.9952999949455261,"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/trajectory","display_name":"Trajectory","score":0.7695943713188171},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.733469545841217},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7323354482650757},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7284597158432007},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6007847785949707},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5956783890724182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5432866215705872},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5265474915504456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4914587736129761},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48122289776802063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3048648238182068},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22194677591323853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15194544196128845},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.0995820164680481}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7695943713188171},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.733469545841217},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7323354482650757},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7284597158432007},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6007847785949707},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5956783890724182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5432866215705872},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5265474915504456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4914587736129761},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48122289776802063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3048648238182068},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22194677591323853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15194544196128845},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0995820164680481},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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:10.1109/ccta.2017.8062663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062663","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W1487127700","https://openalex.org/W1515569264","https://openalex.org/W1544439962","https://openalex.org/W1996470323","https://openalex.org/W2009805304","https://openalex.org/W2015794996","https://openalex.org/W2017424778","https://openalex.org/W2028044548","https://openalex.org/W2080208692","https://openalex.org/W2101576084","https://openalex.org/W2131588967","https://openalex.org/W2133066324","https://openalex.org/W2147600827","https://openalex.org/W2149012351","https://openalex.org/W2149993368","https://openalex.org/W2227817009","https://openalex.org/W2414960440","https://openalex.org/W3143148894","https://openalex.org/W4245765739","https://openalex.org/W6611972992","https://openalex.org/W6682429665","https://openalex.org/W7073609445"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W2020829486","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2016451691","https://openalex.org/W2157008402","https://openalex.org/W4287028639","https://openalex.org/W2145006118"],"abstract_inverted_index":{"This":[0,90],"paper":[1],"presents":[2],"a":[3,9,63,123],"cascaded":[4],"trajectory":[5,31,106],"tracking":[6,27,32,36,59,69,103,107,117,157],"controller":[7,33,70,108,118,136],"and":[8,22,52,86,114,132],"control":[10,28,37,54,60,88,97],"gains":[11],"selection":[12],"procedure":[13],"for":[14,40,95,127],"nonholonomic":[15],"car-like":[16,42,74,124],"wheeled":[17],"mobile":[18,43,75],"robots":[19,44,76],"with":[20],"steering":[21,53,85],"velocities":[23,87],"controllers":[24],"in":[25,45,111,129,145],"the":[26,41,46,49,57,68,72,83,93,102,141,152,155],"loops.":[29],"The":[30,105,116,135,148],"enables":[34],"stable":[35],"of":[38,48,82,143,154],"trajectories":[39],"presence":[47],"robot's":[50,84],"velocity":[51],"latencies.":[55],"Also,":[56],"proposed":[58,156],"solution":[61],"provides":[62],"systematic":[64],"approach":[65],"to":[66,140],"implementing":[67,101],"onto":[71],"real":[73],"without":[77],"requiring":[78],"any":[79],"dynamical":[80],"model":[81],"systems.":[89],"feature":[91],"avoids":[92],"need":[94],"ad-hoc":[96],"parameters":[98],"tuning":[99],"when":[100],"controller.":[104,158],"was":[109,137],"validated":[110],"both":[112,130],"simulations":[113],"experimentations.":[115],"has":[119],"been":[120],"applied":[121],"on":[122],"pickup":[125],"truck":[126],"experimentations":[128],"on-road":[131],"off-road":[133,146],"environments.":[134,147],"tested":[138],"up":[139],"speed":[142],"5.4m/sec":[144],"obtained":[149],"results":[150],"confirm":[151],"effectiveness":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
