{"id":"https://openalex.org/W2150961192","doi":"https://doi.org/10.1109/robio.2009.5420636","title":"Modeling and control of wheeled mobile robot in constrained environment based on hybrid control framework","display_name":"Modeling and control of wheeled mobile robot in constrained environment based on hybrid control framework","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2150961192","doi":"https://doi.org/10.1109/robio.2009.5420636","mag":"2150961192"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5016232846","display_name":"Jianning Hua","orcid":"https://orcid.org/0000-0002-3786-4828"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianning Hua","raw_affiliation_strings":["Northeastern University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Northeastern University, Qinhuangdao, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101977643","display_name":"Yujie Cui","orcid":"https://orcid.org/0000-0002-2556-3702"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujie Cui","raw_affiliation_strings":["Northeastern University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Northeastern University, Qinhuangdao, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101630753","display_name":"Wei Ding","orcid":"https://orcid.org/0000-0003-2830-9416"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Ding","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413708","display_name":"Hongyi Li","orcid":"https://orcid.org/0009-0005-0326-8293"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyi Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102943351","display_name":"Yuechao Wang","orcid":"https://orcid.org/0009-0004-5846-6396"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuechao Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023212284","display_name":"Ning Xi","orcid":"https://orcid.org/0000-0001-8276-5696"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Xi","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5016232846"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.7698,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78936406,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"29","issue":null,"first_page":"75","last_page":"79"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9865999817848206,"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":0.8556103706359863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6090739369392395},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5873993635177612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5383333563804626},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.532975435256958},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.467650830745697},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4515232443809509},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4190683364868164},{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.4109008014202118},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3058473467826843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20818820595741272}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8556103706359863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6090739369392395},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5873993635177612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5383333563804626},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.532975435256958},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.467650830745697},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4515232443809509},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4190683364868164},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.4109008014202118},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3058473467826843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20818820595741272},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2009.5420636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/213105","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/213105","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5799999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335655","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W79463955","https://openalex.org/W90274328","https://openalex.org/W1859807102","https://openalex.org/W1971854747","https://openalex.org/W2006894716","https://openalex.org/W2029373163","https://openalex.org/W2060422673","https://openalex.org/W2116886684","https://openalex.org/W2120944681","https://openalex.org/W2124150362","https://openalex.org/W2126437195","https://openalex.org/W2134052117","https://openalex.org/W2168456661","https://openalex.org/W2943472031","https://openalex.org/W4251823588","https://openalex.org/W4253736499","https://openalex.org/W6643303177","https://openalex.org/W6677605212"],"related_works":["https://openalex.org/W2020829486","https://openalex.org/W2122871747","https://openalex.org/W2016451691","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"the":[3,76,86,107,115,120,123,126,130,145,162,168],"hybrid":[4,70,101,138],"control":[5,27,38,56,77,169],"method":[6,164],"for":[7,106,114,167],"wheeled":[8,60,67,87,110,171],"mobile":[9,15,61,68,88,111,172],"robot":[10,89,112],"in":[11,53,92,143,155],"constrained":[12,94],"environment.":[13],"Wheeled":[14],"robots,":[16,69],"which":[17,40,73,90],"are":[18,23,41,81],"characterized":[19],"by":[20],"nonholonomic":[21],"constraints,":[22],"particularly":[24,141],"difficult":[25],"to":[26,50,58],"since":[28],"environment":[29,95],"constraints":[30],"should":[31],"be":[32],"taken":[33],"into":[34],"account":[35],"sometimes.":[36],"Traditional":[37],"methods,":[39],"based":[42],"on":[43],"precise":[44],"models":[45],"of":[46,66,170],"environment,":[47],"may":[48],"lead":[49],"great":[51],"challenges":[52],"determining":[54],"suitable":[55],"laws":[57],"steer":[59],"robots.":[62,173],"To":[63],"enhance":[64],"autonomy":[65],"system":[71,113],"frameworks":[72],"consider":[74],"simultaneously":[75,154],"and":[78,129,149],"decision-making":[79,108,131],"issues":[80],"required.":[82],"In":[83],"this":[84,137],"paper,":[85],"operates":[91],"a":[93,99],"is":[96,134,140,165],"modeled":[97],"as":[98,122],"3-layered":[100],"architecture:":[102],"finite":[103],"state":[104,117],"machine":[105],"process,":[109],"continuous":[116,127,150],"plant,":[118],"while":[119],"interface":[121],"interaction":[124],"between":[125,147],"dynamics":[128],"process.":[132],"It":[133],"obvious":[135],"that":[136,152,161],"architecture":[139],"useful":[142],"describing":[144],"interactions":[146],"discrete":[148],"components":[151],"exist":[153],"robotic":[156],"systems.":[157],"Simulation":[158],"results":[159],"show":[160],"proposed":[163],"effective":[166]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
