{"id":"https://openalex.org/W2775198879","doi":"https://doi.org/10.1109/iecon.2017.8217086","title":"An improved method for the kinodynamic motion controller in a two-wheeled drive mobile robot","display_name":"An improved method for the kinodynamic motion controller in a two-wheeled drive mobile robot","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2775198879","doi":"https://doi.org/10.1109/iecon.2017.8217086","mag":"2775198879"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2017.8217086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8217086","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","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":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5058632654","display_name":"Kimiko Motonaka","orcid":"https://orcid.org/0000-0003-2471-5118"},"institutions":[{"id":"https://openalex.org/I56624758","display_name":"Kansai University","ror":"https://ror.org/03xg1f311","country_code":"JP","type":"education","lineage":["https://openalex.org/I56624758"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kimiko Motonaka","raw_affiliation_strings":["Department of Electrical and Electronic Engineering Faculty of Engineering Science, Kansai University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering Faculty of Engineering Science, Kansai University, Osaka, Japan","institution_ids":["https://openalex.org/I56624758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keigo Watanabe","raw_affiliation_strings":["Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111457034","display_name":"Shoichi Maeyama","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shoichi Maeyama","raw_affiliation_strings":["Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6247","last_page":"6251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9951000213623047,"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/mobile-robot","display_name":"Mobile robot","score":0.7465565800666809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6285156011581421},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5905349850654602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5691856145858765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5348039865493774},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5094507336616516},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5006632804870605},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44473975896835327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41816359758377075},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40503525733947754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2247897982597351},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16333159804344177}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7465565800666809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6285156011581421},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5905349850654602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5691856145858765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5348039865493774},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5094507336616516},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5006632804870605},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44473975896835327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41816359758377075},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40503525733947754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2247897982597351},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16333159804344177},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/iecon.2017.8217086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8217086","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","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":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1987489142","https://openalex.org/W2048820947","https://openalex.org/W2071133425","https://openalex.org/W2102490802","https://openalex.org/W2110830687","https://openalex.org/W3100455520"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2979398413","https://openalex.org/W1532677580","https://openalex.org/W2350319669","https://openalex.org/W2387672602"],"abstract_inverted_index":{"A":[0],"robot":[1,26,124,151],"with":[2,27,98],"two":[3,28],"independent":[4,29],"driving":[5,30],"wheels":[6,31],"is":[7,16,119,147],"used":[8],"popularly":[9],"as":[10],"a":[11,17,33,43,61],"service":[12],"robot.":[13],"Therefore,":[14],"there":[15,118,130],"lot":[18],"of":[19,74,91,101],"research":[20,116],"on":[21],"the":[22,72,75,99,107,114,120,123,127,137,140,150,155,163],"autonomous":[23],"locomotion.":[24],"The":[25,64],"has":[32],"nonholonomic":[34,62],"constraint":[35],"in":[36,113],"its":[37],"model,":[38],"so":[39],"that":[40,117,122,149],"it":[41,85,97,110,146],"needs":[42],"specific":[44],"control":[45],"method":[46],"when":[47],"controlling":[48],"it.":[49],"In":[50,83,143],"this":[51,144],"research,":[52],"we":[53],"use":[54],"an":[55,67,79,92],"invariant":[56,68],"manifold":[57,69],"for":[58],"solving":[59],"such":[60],"constraint.":[63],"controller":[65],"based":[66],"can":[70,86,152],"converge":[71,136,153],"state":[73,138],"controlled":[76],"object":[77],"to":[78,135,139,154],"arbitrary":[80],"target":[81,141,156,164],"position.":[82],"addition,":[84],"also":[87],"move":[88],"taking":[89],"account":[90],"obstacle":[93,128],"position":[94,157,165],"by":[95,161,172],"combining":[96],"gradient":[100],"\u201charmonic":[102],"potential":[103],"field\u201d":[104],"(HPF).":[105],"On":[106],"other":[108],"hand,":[109],"was":[111],"confirmed":[112],"previous":[115],"case":[121],"cannot":[125],"avoid":[126],"because":[129],"are":[131],"not":[132],"enough":[133],"space":[134],"state.":[142],"paper,":[145],"verified":[148],"while":[158],"avoiding":[159],"obstacles":[160],"dividing":[162],"into":[166],"some":[167],"pieces":[168],"and":[169],"moving":[170],"step":[171],"step.":[173]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}