{"id":"https://openalex.org/W2563839293","doi":"https://doi.org/10.1109/iros.2016.7759529","title":"A kinematic-based rough terrain control for traction and energy saving of an exploration rover","display_name":"A kinematic-based rough terrain control for traction and energy saving of an exploration rover","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563839293","doi":"https://doi.org/10.1109/iros.2016.7759529","mag":"2563839293"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100612966","display_name":"Jayoung Kim","orcid":"https://orcid.org/0000-0003-2946-8478"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jayoung Kim","raw_affiliation_strings":["Mechatronics group of Chungnam National University, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechatronics group of Chungnam National University, Daejeon, Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003383414","display_name":"Jihong Lee","orcid":"https://orcid.org/0000-0002-7889-4935"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihong Lee","raw_affiliation_strings":["Mechatronics group of Chungnam National University, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechatronics group of Chungnam National University, Daejeon, Korea","institution_ids":["https://openalex.org/I196345858"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100612966"],"corresponding_institution_ids":["https://openalex.org/I196345858"],"apc_list":null,"apc_paid":null,"fwci":0.8077,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.7839966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3595","last_page":"3600"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9577000141143799,"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"}},{"id":"https://openalex.org/T10842","display_name":"Railway Engineering and Dynamics","score":0.9067999720573425,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/terrain","display_name":"Terrain","score":0.8488051891326904},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8440607190132141},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.730009138584137},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.701241135597229},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.6407315731048584},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6046679615974426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.527410626411438},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.49005091190338135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4851437509059906},{"id":"https://openalex.org/keywords/traction-control-system","display_name":"Traction control system","score":0.48470544815063477},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4829546809196472},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3365612030029297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.325774610042572},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32475072145462036},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2842722535133362},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18931007385253906},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16840463876724243},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16205599904060364},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14812281727790833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10460880398750305},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08099997043609619}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8488051891326904},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8440607190132141},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.730009138584137},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.701241135597229},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6407315731048584},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6046679615974426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.527410626411438},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.49005091190338135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4851437509059906},{"id":"https://openalex.org/C167947727","wikidata":"https://www.wikidata.org/wiki/Q433478","display_name":"Traction control system","level":2,"score":0.48470544815063477},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4829546809196472},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3365612030029297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.325774610042572},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32475072145462036},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2842722535133362},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18931007385253906},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16840463876724243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16205599904060364},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14812281727790833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10460880398750305},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08099997043609619},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1972855608","https://openalex.org/W2003176569","https://openalex.org/W2013041100","https://openalex.org/W2035510971","https://openalex.org/W2049833148","https://openalex.org/W2070343193","https://openalex.org/W2102608217","https://openalex.org/W2119109433","https://openalex.org/W2158401301","https://openalex.org/W2773955853","https://openalex.org/W3142810319","https://openalex.org/W6651237742","https://openalex.org/W6677877445","https://openalex.org/W6747032829"],"related_works":["https://openalex.org/W2130132683","https://openalex.org/W3033258505","https://openalex.org/W2321351084","https://openalex.org/W1975577234","https://openalex.org/W2994048156","https://openalex.org/W1840273148","https://openalex.org/W2352471066","https://openalex.org/W2076864989","https://openalex.org/W4312873346","https://openalex.org/W4246215571"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,10,27,30,34,46,55,76,85,89,111,123,161,175],"novel":[4],"algorithm":[5],"to":[6,48,160],"control":[7,42],"wheels":[8],"of":[9,25,29,53,69,75,81,122,133,146,152,177],"rover":[11,47,163],"in":[12],"rough":[13,40,178],"terrains":[14],"with":[15],"keeping":[16,59],"traction":[17,61,100],"and":[18,62,72,88,101,140,149,164],"minimizing":[19,63],"energy":[20,64],"consumption":[21],"on":[22,170,174],"the":[23,130,134,142,165],"basis":[24],"observing":[26],"change":[28],"robot":[31,135],"velocity":[32,57,132,151],"from":[33,106],"4WD":[35,162],"Kinematic":[36],"model.":[37],"Proposed":[38],"kinematic-based":[39],"terrain":[41],"(KRTC)":[43],"can":[44],"satisfy":[45],"meet":[49],"an":[50,67,73,120,137],"integrated":[51],"performance":[52,166],"following":[54],"desired":[56,131],"while":[58],"maximum":[60,99],"use":[65],"without":[66],"estimator":[68],"wheel":[70],"sinkage":[71],"observer":[74],"dynamic":[77],"parameter.":[78],"KRTC":[79,127,157],"consists":[80],"two":[82,143],"main":[83],"parts;":[84],"slip":[86,90,93,96,115,125,148],"optimizer":[87],"controller.":[91,126],"For":[92,155],"optimization,":[94],"optimal":[95],"values":[97],"regarding":[98],"tractive":[102],"efficiency":[103],"are":[104],"derived":[105],"indoor":[107],"experimental":[108,172],"data":[109,145,173],"during":[110],"wheel-terrain":[112],"interaction.":[113],"Optimized":[114],"ratio":[116],"is":[117],"used":[118],"as":[119,136],"input":[121,138],"PID":[124],"only":[128],"uses":[129],"value":[139],"gets":[141],"feedback":[144],"actual":[147,150],"each":[153],"wheel.":[154],"verification,":[156],"was":[158,167],"applied":[159],"analyzed":[168],"based":[169],"acquired":[171],"variety":[176],"terrains.":[179]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}