{"id":"https://openalex.org/W3151717158","doi":"https://doi.org/10.1109/ieeeconf49454.2021.9382654","title":"Navigation of Omni-Directional Mobile Robot in Unstructured Environments using Fuzzy Logic Control","display_name":"Navigation of Omni-Directional Mobile Robot in Unstructured Environments using Fuzzy Logic Control","publication_year":2021,"publication_date":"2021-01-11","ids":{"openalex":"https://openalex.org/W3151717158","doi":"https://doi.org/10.1109/ieeeconf49454.2021.9382654","mag":"3151717158"},"language":"en","primary_location":{"id":"doi:10.1109/ieeeconf49454.2021.9382654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf49454.2021.9382654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/SICE International Symposium on System Integration (SII)","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/A5074676154","display_name":"Mohamed Abdelwahab","orcid":"https://orcid.org/0000-0003-2116-0743"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Mohamed Abdelwahab","raw_affiliation_strings":["Department of Mechatronics and Robotics, Egypt-Japan University of Science and Technology, Alexandria"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Robotics, Egypt-Japan University of Science and Technology, Alexandria","institution_ids":["https://openalex.org/I32619867"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046692303","display_name":"Victor Parque","orcid":"https://orcid.org/0000-0001-7329-1468"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Victor Parque","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065101661","display_name":"A. A. Abouelsoud","orcid":"https://orcid.org/0000-0003-0487-7144"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"A. A. Abouelsoud","raw_affiliation_strings":["Department of Electronics and Electrical Communication Engineering, Giza, Egypt"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Electrical Communication Engineering, Giza, Egypt","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080043987","display_name":"Ahmed M. R. Fath","orcid":null},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed M. R. Fath","raw_affiliation_strings":["Department of Mechatronics and Robotics, Egypt-Japan University of Science and Technology, Alexandria"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Robotics, Egypt-Japan University of Science and Technology, Alexandria","institution_ids":["https://openalex.org/I32619867"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074676154"],"corresponding_institution_ids":["https://openalex.org/I32619867"],"apc_list":null,"apc_paid":null,"fwci":0.6725,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.70251634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"684","last_page":"689"},"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":0.9954000115394592,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9939000010490417,"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":0.8214117884635925},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7234925031661987},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6965125799179077},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6647830605506897},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6003016233444214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5872128009796143},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5758225917816162},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.48731598258018494},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.435939759016037},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4255087375640869},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.41687315702438354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3815822899341583},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33935946226119995},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33384013175964355}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8214117884635925},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7234925031661987},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6965125799179077},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6647830605506897},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6003016233444214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5872128009796143},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5758225917816162},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.48731598258018494},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.435939759016037},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4255087375640869},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.41687315702438354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3815822899341583},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33935946226119995},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33384013175964355},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ieeeconf49454.2021.9382654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf49454.2021.9382654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/SICE International Symposium on System Integration (SII)","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":12,"referenced_works":["https://openalex.org/W1995234531","https://openalex.org/W2006850111","https://openalex.org/W2014616611","https://openalex.org/W2062784856","https://openalex.org/W2081716982","https://openalex.org/W2111065664","https://openalex.org/W2344773908","https://openalex.org/W2403998731","https://openalex.org/W2727292430","https://openalex.org/W2899471260","https://openalex.org/W3002171567","https://openalex.org/W6666316324"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Among":[0],"the":[1,21,69,78],"existing":[2],"control":[3],"schemes,":[4],"Fuzzy":[5,46],"Logic":[6,47],"(FL)":[7],"is":[8,27],"advantageous":[9],"in":[10,17,35],"offering":[11],"robustness":[12],"to":[13,29,71],"uncertainty":[14],"and":[15,58,74,81],"noise":[16],"sensor":[18],"readings.":[19],"However,":[20],"performance":[22],"of":[23,52],"FL-based":[24,83],"navigation":[25,51],"strategies":[26],"well-known":[28],"be":[30],"bounded":[31],"by":[32],"localminima":[33],"risks":[34],"polygonal":[36],"environments":[37],"with":[38],"nonconvex":[39],"configurations.":[40],"Here,":[41],"we":[42],"propose":[43],"a":[44],"twin-stage":[45],"scheme":[48],"for":[49,86],"autonomous":[50],"mobile":[53,65,87],"robots.":[54,88],"Our":[55],"exhaustive":[56],"computational":[57],"real-world":[59],"experiments":[60],"using":[61],"Robotino,":[62],"an":[63],"omnidirectional":[64],"robot":[66],"architecture":[67],"shows":[68],"potential":[70],"avoid":[72],"local-minima":[73],"obstacle":[75],"collisions,":[76],"enabling":[77],"computationally":[79],"efficient":[80],"adaptive":[82],"behavioural":[84],"modules":[85]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}