{"id":"https://openalex.org/W2567129700","doi":"https://doi.org/10.1109/tits.2016.2632710","title":"A Potential Field Approach-Based Trajectory Control for Autonomous Electric Vehicles With In-Wheel Motors","display_name":"A Potential Field Approach-Based Trajectory Control for Autonomous Electric Vehicles With In-Wheel Motors","publication_year":2016,"publication_date":"2016-12-12","ids":{"openalex":"https://openalex.org/W2567129700","doi":"https://doi.org/10.1109/tits.2016.2632710","mag":"2567129700"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2016.2632710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2016.2632710","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/A_Potential_field_approach-based_trajectory_control_for_autonomous_electric_vehicles_with_in-wheel_motors/27782547","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100763022","display_name":"Boyuan Li","orcid":"https://orcid.org/0000-0002-1812-7101"},"institutions":[{"id":"https://openalex.org/I204824540","display_name":"University of Wollongong","ror":"https://ror.org/00jtmb277","country_code":"AU","type":"education","lineage":["https://openalex.org/I204824540"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Boyuan Li","raw_affiliation_strings":["School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Wollongong, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Wollongong, NSW, Australia","institution_ids":["https://openalex.org/I204824540"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051704749","display_name":"Haiping Du","orcid":"https://orcid.org/0000-0002-3439-3821"},"institutions":[{"id":"https://openalex.org/I204824540","display_name":"University of Wollongong","ror":"https://ror.org/00jtmb277","country_code":"AU","type":"education","lineage":["https://openalex.org/I204824540"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Haiping Du","raw_affiliation_strings":["School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Wollongong, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-3439-3821","affiliations":[{"raw_affiliation_string":"School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Wollongong, NSW, Australia","institution_ids":["https://openalex.org/I204824540"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100400668","display_name":"Weihua Li","orcid":"https://orcid.org/0000-0002-6190-8421"},"institutions":[{"id":"https://openalex.org/I204824540","display_name":"University of Wollongong","ror":"https://ror.org/00jtmb277","country_code":"AU","type":"education","lineage":["https://openalex.org/I204824540"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Weihua Li","raw_affiliation_strings":["School of Mechanical, Material and Mechatronic Engineering, University of Wollongong, Wollongong, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Material and Mechatronic Engineering, University of Wollongong, Wollongong, NSW, Australia","institution_ids":["https://openalex.org/I204824540"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204824540"],"apc_list":null,"apc_paid":null,"fwci":7.4211,"has_fulltext":false,"cited_by_count":87,"citation_normalized_percentile":{"value":0.96974935,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"18","issue":"8","first_page":"2044","last_page":"2055"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9979000091552734,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7727872729301453},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6594642400741577},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5983254909515381},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5603964328765869},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.559390664100647},{"id":"https://openalex.org/keywords/electric-vehicle","display_name":"Electric vehicle","score":0.5427724123001099},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5382326245307922},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47915974259376526},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35598519444465637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3404179513454437},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.31945180892944336},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27878880500793457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09696733951568604},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.07385602593421936}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7727872729301453},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6594642400741577},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5983254909515381},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5603964328765869},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.559390664100647},{"id":"https://openalex.org/C2776422217","wikidata":"https://www.wikidata.org/wiki/Q13629441","display_name":"Electric vehicle","level":3,"score":0.5427724123001099},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5382326245307922},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47915974259376526},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35598519444465637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3404179513454437},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.31945180892944336},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27878880500793457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09696733951568604},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.07385602593421936},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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":3,"locations":[{"id":"doi:10.1109/tits.2016.2632710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2016.2632710","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:ro.uow.edu.au:eispapers1-1888","is_oa":false,"landing_page_url":"https://ro.uow.edu.au/eispapers1/886","pdf_url":null,"source":{"id":"https://openalex.org/S4306400510","display_name":"Research Online (University of Wollongong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I204824540","host_organization_name":"University of Wollongong","host_organization_lineage":["https://openalex.org/I204824540"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty of Engineering and Information Sciences - Papers: Part B","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/27782547","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/A_Potential_field_approach-based_trajectory_control_for_autonomous_electric_vehicles_with_in-wheel_motors/27782547","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27782547","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/A_Potential_field_approach-based_trajectory_control_for_autonomous_electric_vehicles_with_in-wheel_motors/27782547","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5}],"awards":[{"id":"https://openalex.org/G4060856583","display_name":"Innovative X-by-Wire Control Systems for Improved Vehicle Manoeuvrability and Stability","funder_award_id":"DP140100303","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1524252729","https://openalex.org/W1546390994","https://openalex.org/W1593002127","https://openalex.org/W1608481154","https://openalex.org/W1864870865","https://openalex.org/W1966252461","https://openalex.org/W1970401330","https://openalex.org/W2005113095","https://openalex.org/W2012561930","https://openalex.org/W2014616611","https://openalex.org/W2016985433","https://openalex.org/W2018869989","https://openalex.org/W2024509485","https://openalex.org/W2039624058","https://openalex.org/W2048994833","https://openalex.org/W2051693066","https://openalex.org/W2060135527","https://openalex.org/W2062942996","https://openalex.org/W2073397154","https://openalex.org/W2079702198","https://openalex.org/W2087202281","https://openalex.org/W2091400818","https://openalex.org/W2095826886","https://openalex.org/W2103120971","https://openalex.org/W2117408957","https://openalex.org/W2122731117","https://openalex.org/W2151977651","https://openalex.org/W2154669359","https://openalex.org/W6654186457"],"related_works":["https://openalex.org/W2507513082","https://openalex.org/W1971610695","https://openalex.org/W2566716929","https://openalex.org/W2989775562","https://openalex.org/W2959841230","https://openalex.org/W2891441129","https://openalex.org/W1631069788","https://openalex.org/W2047787160","https://openalex.org/W2365785480","https://openalex.org/W2152858547"],"abstract_inverted_index":{"The":[0],"studies":[1],"on":[2,26,37],"the":[3,27,32,38,55,59,87,100,110,130,147,152,158,164],"autonomous":[4,28,40,60],"electric":[5,41,61],"vehicle":[6,42,62,88,112,148],"are":[7,135],"quite":[8],"attractive":[9],"due":[10],"to":[11,53,108,117,128,137,149],"fewer":[12],"human-induced":[13],"errors":[14],"and":[15,86,156,160],"improved":[16],"safety":[17],"in":[18],"recent":[19],"years.":[20],"Extensive":[21],"research":[22],"has":[23],"been":[24],"done":[25],"steering":[29,78],"control":[30,57,95,146],"of":[31,58,67,163],"mobile":[33],"robot,":[34],"but":[35],"study":[36],"on-road":[39],"is":[43,105,126],"still":[44],"limited.":[45],"This":[46],"paper":[47],"proposes":[48],"a":[49,70,77,81,122],"potential":[50,102],"field":[51],"method":[52,74],"achieve":[54,129],"trajectory":[56,124,131,142],"with":[63,80,93],"in-wheel":[64],"motors.":[65],"Instead":[66],"strictly":[68],"following":[69],"desired":[71,82,111,119,153],"path,":[72],"this":[73,98,118,140],"can":[75,89,144],"form":[76],"corridor":[79],"tracking":[83],"error":[84],"tolerance":[85],"be":[90],"steered":[91],"smoothly":[92],"less":[94],"effort.":[96],"In":[97],"paper,":[99],"innovative":[101],"filed":[103],"function":[104],"presented":[106],"first":[107],"determine":[109],"yaw":[113,120],"angle.":[114],"Then,":[115],"according":[116],"angle,":[121],"two-level":[123],"controller":[125,143],"proposed":[127],"control.":[132],"Simulation":[133],"results":[134],"shown":[136],"prove":[138],"that":[139],"suggested":[141],"successfully":[145],"move":[150],"within":[151],"road":[154],"boundary":[155],"improve":[157],"handling":[159],"stability":[161],"performance":[162],"vehicle.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}