{"id":"https://openalex.org/W4388666216","doi":"https://doi.org/10.1109/tase.2023.3327958","title":"Integral Line of Sight Guidance Scheme-Based Tracking Method for Snake Robots","display_name":"Integral Line of Sight Guidance Scheme-Based Tracking Method for Snake Robots","publication_year":2023,"publication_date":"2023-11-14","ids":{"openalex":"https://openalex.org/W4388666216","doi":"https://doi.org/10.1109/tase.2023.3327958"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3327958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3327958","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5100365821","display_name":"Dongfang Li","orcid":"https://orcid.org/0000-0001-9863-4172"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Dongfang Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","Sino-U.S Global Logistics Institute, Shanghai Jiao Tong University, Shanghai, China","Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong, China","School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9863-4172","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Sino-U.S Global Logistics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034433712","display_name":"Jiechao Zhou","orcid":"https://orcid.org/0000-0002-7879-0757"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiechao Zhou","raw_affiliation_strings":["School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002914854","display_name":"Yanwei Huang","orcid":"https://orcid.org/0000-0002-1483-2049"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanwei Huang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1483-2049","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021385278","display_name":"Dali Zhang","orcid":"https://orcid.org/0000-0002-7945-4042"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dali Zhang","raw_affiliation_strings":["Shenzhen Research Institute, Shanghai Jiao Tong University, Shanghai, China","Antai College of Economics and Management, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7945-4042","affiliations":[{"raw_affiliation_string":"Shenzhen Research Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Antai College of Economics and Management, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100435474","display_name":"Ping Li","orcid":"https://orcid.org/0000-0001-8868-8054"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Li","raw_affiliation_strings":["School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8868-8054","affiliations":[{"raw_affiliation_string":"School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1982-6780","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.486,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.59546236,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"4537","last_page":"4547"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9907000064849854,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9907000064849854,"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"}},{"id":"https://openalex.org/T11985","display_name":"Marine Toxins and Detection Methods","score":0.9555000066757202,"subfield":{"id":"https://openalex.org/subfields/2304","display_name":"Environmental Chemistry"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11735","display_name":"Peripheral Neuropathies and Disorders","score":0.9399999976158142,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7608667612075806},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7151268124580383},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6543890833854675},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5593939423561096},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5587441325187683},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.49161940813064575},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49107933044433594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47162771224975586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3825961947441101},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37348634004592896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3626078963279724},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22352352738380432}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7608667612075806},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7151268124580383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6543890833854675},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5593939423561096},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5587441325187683},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.49161940813064575},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49107933044433594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47162771224975586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3825961947441101},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37348634004592896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3626078963279724},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22352352738380432},{"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},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3327958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3327958","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.41999998688697815}],"awards":[{"id":"https://openalex.org/G2550882473","display_name":null,"funder_award_id":"2022M710093","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3897873703","display_name":null,"funder_award_id":"72192820","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8611416412","display_name":null,"funder_award_id":"62303117","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8629201061","display_name":null,"funder_award_id":"JCYJ 20190808164605481","funder_id":"https://openalex.org/F4320329791","funder_display_name":"Shenzhen Fundamental Research Program"},{"id":"https://openalex.org/G8892397673","display_name":null,"funder_award_id":"72192824","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320329791","display_name":"Shenzhen Fundamental Research Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1898305668","https://openalex.org/W2070126066","https://openalex.org/W2098224524","https://openalex.org/W2120894630","https://openalex.org/W2123431998","https://openalex.org/W2125096161","https://openalex.org/W2128524243","https://openalex.org/W2138939375","https://openalex.org/W2155213497","https://openalex.org/W2505743025","https://openalex.org/W2573937190","https://openalex.org/W2887135972","https://openalex.org/W2903417358","https://openalex.org/W2920850588","https://openalex.org/W2955049691","https://openalex.org/W2985342878","https://openalex.org/W2996629486","https://openalex.org/W2996799490","https://openalex.org/W2998566163","https://openalex.org/W3000809226","https://openalex.org/W3002469973","https://openalex.org/W3008218687","https://openalex.org/W3023793782","https://openalex.org/W3104686123","https://openalex.org/W3144387230","https://openalex.org/W3157400542","https://openalex.org/W3160184364","https://openalex.org/W4283837926","https://openalex.org/W4300861269","https://openalex.org/W4312762795","https://openalex.org/W4317932271","https://openalex.org/W4323913765","https://openalex.org/W4360770934","https://openalex.org/W4364376485","https://openalex.org/W4366385185","https://openalex.org/W4367281485","https://openalex.org/W4382119342"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2018658498","https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W1996877595","https://openalex.org/W2026490863"],"abstract_inverted_index":{"This":[0,47],"study":[1],"investigates":[2],"the":[3,20,24,40,62,69,75,79,84,95,99,116,121,129,134,146,171,176,206,221,227,252,266,270,274,277,282,286],"trajectory":[4,26,150,211],"tracking":[5,107,151,212,231,290],"strategy":[6,34],"of":[7,65,89,133,148,170,178,208,230,241,273,288],"a":[8,36,153,239,242,260],"snake":[9,37,154,234],"robot":[10,21,38,155],"with":[11,39,159],"sideslip":[12,51,160,195],"disturbance":[13,161],"and":[14,28,52,60,71,86,92,106,125,131,162,197,244,269],"unknown":[15,163],"model":[16,164],"parameters.":[17,165],"To":[18],"guide":[19],"to":[22,120,139,285],"track":[23],"ideal":[25],"faster":[27],"more":[29],"accurately,":[30],"an":[31,157],"adaptive":[32,100],"anti-sideslip":[33],"for":[35,94,152,233,292],"Integral":[41],"Line-of-Sight":[42],"(ILOS)":[43],"function":[44],"is":[45,237],"reported.":[46],"technique":[48],"eliminates":[49],"direction":[50],"error":[53],"fluctuation":[54],"by":[55,83,145,205],"using":[56,98],"auxiliary":[57],"integral":[58],"terms":[59],"shortens":[61],"convergence":[63],"time":[64,87],"state":[66,117],"variables.":[67],"Following":[68],"position":[70],"angle":[72],"control":[73,222,232,247,262,291],"objectives,":[74],"proposed":[76,283],"controller":[77],"considers":[78,265],"negative":[80],"effects":[81],"caused":[82,204],"uncertainty":[85,272],"variability":[88],"environmental":[90],"parameters":[91],"compensates":[93],"joint":[96],"input":[97],"update":[101],"laws.":[102],"The":[103,111,123],"environment":[104,158],"adaptability":[105],"efficiency":[108],"are":[109,203],"improved.":[110],"stability":[112],"analysis":[113],"indicates":[114],"that":[115,249],"errors":[118],"converge":[119],"origin.":[122],"simulation":[124],"experiment":[126],"data":[127],"verifies":[128],"effectiveness":[130],"strength":[132],"work.":[135],"<italic":[136],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[138],"Practitioners</i>":[140],"\u2014This":[141],"article":[142],"was":[143],"motivated":[144],"problem":[147],"robust":[149],"in":[156,220],"In":[166,184,276],"this":[167,256],"environment,":[168],"information":[169],"motion":[172,194],"space":[173],"(for":[174,192],"example,":[175,193],"coefficient":[177],"ground":[179],"friction)":[180],"cannot":[181],"be":[182,188,218],"obtained.":[183],"addition,":[185],"there":[186,236],"may":[187],"other":[189,198],"system":[190],"limitations":[191,202],"limitations)":[196],"operational":[199],"limitations.":[200],"These":[201,214],"requirements":[207],"various":[209],"common":[210],"objectives.":[213],"cases":[215],"should":[216],"also":[217],"considered":[219],"strategy.":[223],"However,":[224],"based":[225],"on":[226],"existing":[228],"methods":[229],"robots,":[235],"still":[238],"lack":[240],"complete":[243],"reliable":[245,261],"autonomous":[246],"scheme":[248],"can":[250],"consider":[251],"above":[253,267],"problems.":[254],"On":[255],"basis,":[257],"we":[258,279],"present":[259],"strategy,":[263],"which":[264],"problems":[268],"dynamic":[271],"model.":[275],"future,":[278],"will":[280],"extend":[281],"method":[284],"field":[287],"formation":[289],"multiple":[293],"robots.":[294]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
