{"id":"https://openalex.org/W7146996544","doi":"https://doi.org/10.1109/cnml68938.2026.11453173","title":"Design and Implementation of ROS-Based Omnidirectional Mobile Robot Control System","display_name":"Design and Implementation of ROS-Based Omnidirectional Mobile Robot Control System","publication_year":2026,"publication_date":"2026-01-30","ids":{"openalex":"https://openalex.org/W7146996544","doi":"https://doi.org/10.1109/cnml68938.2026.11453173"},"language":null,"primary_location":{"id":"doi:10.1109/cnml68938.2026.11453173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11453173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","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/A5132562648","display_name":"Pengfei Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161807","display_name":"Taizhou Vocational and Technical College","ror":"https://ror.org/05pt0p091","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161807"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pengfei Zheng","raw_affiliation_strings":["College Taizhou,Taizhou Vocational &#x0026; Technical,China"],"affiliations":[{"raw_affiliation_string":"College Taizhou,Taizhou Vocational &#x0026; Technical,China","institution_ids":["https://openalex.org/I4210161807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101569259","display_name":"Weihua Zhou","orcid":"https://orcid.org/0000-0003-2018-265X"},"institutions":[{"id":"https://openalex.org/I4210161807","display_name":"Taizhou Vocational and Technical College","ror":"https://ror.org/05pt0p091","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161807"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Zhou","raw_affiliation_strings":["College Taizhou,Taizhou Vocational &#x0026; Technical,China"],"affiliations":[{"raw_affiliation_string":"College Taizhou,Taizhou Vocational &#x0026; Technical,China","institution_ids":["https://openalex.org/I4210161807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123424828","display_name":"Guotang Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161807","display_name":"Taizhou Vocational and Technical College","ror":"https://ror.org/05pt0p091","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161807"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guotang Yuan","raw_affiliation_strings":["College Taizhou,Taizhou Vocational &#x0026; Technical,China"],"affiliations":[{"raw_affiliation_string":"College Taizhou,Taizhou Vocational &#x0026; Technical,China","institution_ids":["https://openalex.org/I4210161807"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100332754","display_name":"Nan Wang","orcid":"https://orcid.org/0000-0002-4369-0115"},"institutions":[{"id":"https://openalex.org/I4210161807","display_name":"Taizhou Vocational and Technical College","ror":"https://ror.org/05pt0p091","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161807"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Wang","raw_affiliation_strings":["College Taizhou,Taizhou Vocational &#x0026; Technical,China"],"affiliations":[{"raw_affiliation_string":"College Taizhou,Taizhou Vocational &#x0026; Technical,China","institution_ids":["https://openalex.org/I4210161807"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5132562648"],"corresponding_institution_ids":["https://openalex.org/I4210161807"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.91888442,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1162","last_page":"1166"},"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":0.31709998846054077,"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":0.31709998846054077,"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":0.08630000054836273,"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/T12216","display_name":"Network Time Synchronization Technologies","score":0.0794999971985817,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6121000051498413},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5054000020027161},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.42890000343322754},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4163999855518341},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.3840000033378601},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.3671000003814697},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3610000014305115},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.35190001130104065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33799999952316284}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6121000051498413},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.574400007724762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188999772071838},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5054000020027161},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42890000343322754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4187999963760376},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4163999855518341},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.3840000033378601},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37689998745918274},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3610000014305115},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.35190001130104065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33799999952316284},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.31929999589920044},{"id":"https://openalex.org/C113954288","wikidata":"https://www.wikidata.org/wiki/Q186885","display_name":"Timestamp","level":2,"score":0.3118000030517578},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.2987000048160553},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C95491727","wikidata":"https://www.wikidata.org/wiki/Q992968","display_name":"Mobile telephony","level":3,"score":0.29019999504089355},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C59201141","wikidata":"https://www.wikidata.org/wiki/Q46904","display_name":"GSM","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26330000162124634},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.26249998807907104},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2565999925136566}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cnml68938.2026.11453173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11453173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","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":13,"referenced_works":["https://openalex.org/W3043971245","https://openalex.org/W3124676898","https://openalex.org/W3201592067","https://openalex.org/W3203342121","https://openalex.org/W4205492978","https://openalex.org/W4210252310","https://openalex.org/W4286374994","https://openalex.org/W4312328434","https://openalex.org/W4386952483","https://openalex.org/W4389304142","https://openalex.org/W4391092768","https://openalex.org/W4391109832","https://openalex.org/W4404851998"],"related_works":[],"abstract_inverted_index":{"Addressing":[0],"the":[1,15,39,110,112,124,136,142,148,156,163,169,184],"integrated":[2],"\"perception-localization-planning-control\"":[3],"requirement":[4],"of":[5,19,59,126,172],"indoor":[6],"omnidirectional":[7,21,85],"mobile":[8,22],"platforms,":[9],"this":[10],"paper":[11],"proposes":[12],"and":[13,17,50,88,104,155,179,183],"completes":[14],"design":[16],"creation":[18],"an":[20,32,116],"robot":[23],"control":[24,63],"system":[25,30,137],"based":[26],"on":[27],"ROS.":[28],"The":[29,132],"uses":[31],"industrial":[33],"motherboard":[34],"to":[35,44,71,100,108,122],"run":[36],"ROS2.":[37],"For":[38],"chassis,":[40],"CANopen":[41],"is":[42,69,98,106,140,152,159,175],"used":[43,70,99,107],"issue":[45],"commands":[46],"at":[47,145],"regular":[48],"intervals":[49],"read":[51],"status":[52],"information,":[53],"thus":[54],"creating":[55],"a":[56,76],"hierarchical":[57],"architecture":[58],"\"high-speed":[60],"sensing\u2014edge":[61],"fusion\u2014master":[62],"decision\u2014bus":[64],"execution.\"":[65],"A":[66],"unified":[67],"timestamp":[68],"define":[72],"end-to-end":[73],"latency,":[74],"shaping":[75],"real-time":[77],"feature":[78],"map":[79],"that":[80,135],"can":[81],"be":[82],"recalculated.":[83],"Methodologically,":[84],"kinematic":[86],"mapping":[87],"incremental":[89],"PID":[90],"velocity":[91],"loops":[92],"are":[93],"presented;":[94],"loop":[95],"closure":[96],"detection":[97],"enhance":[101],"RGB-D":[102],"SLAM,":[103],"ATE":[105,165],"quantize":[109],"offset;":[111],"planning":[113],"layer":[114],"employs":[115],"adaptive":[117],"artificial":[118],"fish":[119],"swarm":[120],"strategy":[121],"improve":[123],"quality":[125],"feasible":[127],"solutions":[128],"in":[129,141],"crowded":[130],"scenarios.":[131],"results":[133],"show":[134],"latency":[138],"P95":[139],"millisecond":[143],"range":[144],"each":[146],"stage;":[147],"speed":[149],"tracking":[150],"RMSE":[151],"about":[153,167],"0.036\u20130.048":[154],"packet":[157],"loss":[158],"\u22640.03%;":[160],"loopback":[161],"reduces":[162],"median":[164],"by":[166],"40%\u201356%;":[168],"success":[170],"rate":[171],"dynamic":[173,189],"scenarios":[174],"\u22650.90,":[176],"but":[177],"replanning":[178],"time":[180],"consumption":[181],"increase,":[182],"bottleneck":[185],"mainly":[186],"comes":[187],"from":[188],"obstacle":[190],"avoidance":[191],"triggering.":[192]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}
