{"id":"https://openalex.org/W2983886045","doi":"https://doi.org/10.1109/icca.2019.8899955","title":"MPC-based Unified Trajectory Planning and Tracking Control Approach for Automated Guided Vehicles","display_name":"MPC-based Unified Trajectory Planning and Tracking Control Approach for Automated Guided Vehicles","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2983886045","doi":"https://doi.org/10.1109/icca.2019.8899955","mag":"2983886045"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2019.8899955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dr.ntu.edu.sg/bitstream/10356/144439/2/MPC-based%20Unified%20Trajectory%20Planning%20and%20Tracking%20Control%20Approach%20for%20Automated%20Guided%20Vehicles.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100648016","display_name":"Juncheng Li","orcid":"https://orcid.org/0000-0002-1793-6775"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Juncheng Li","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082230080","display_name":"Maopeng Ran","orcid":"https://orcid.org/0000-0003-0984-144X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Maopeng Ran","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100452641","display_name":"Han Wang","orcid":"https://orcid.org/0000-0001-5448-9903"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.7853,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.88641983,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"374","last_page":"380"},"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":0.9951000213623047,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9940000176429749,"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/trajectory","display_name":"Trajectory","score":0.837730884552002},{"id":"https://openalex.org/keywords/automated-guided-vehicle","display_name":"Automated guided vehicle","score":0.74973464012146},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7189905047416687},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6893677115440369},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6788475513458252},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6713687181472778},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6553788781166077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5857968926429749},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5813225507736206},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5141275525093079},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4692912995815277},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4475741982460022},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34169232845306396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3356637954711914},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27824342250823975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.251727819442749},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24995610117912292}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.837730884552002},{"id":"https://openalex.org/C2776068756","wikidata":"https://www.wikidata.org/wiki/Q1368584","display_name":"Automated guided vehicle","level":2,"score":0.74973464012146},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7189905047416687},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6893677115440369},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6788475513458252},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6713687181472778},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6553788781166077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5857968926429749},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5813225507736206},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5141275525093079},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4692912995815277},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4475741982460022},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34169232845306396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3356637954711914},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27824342250823975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.251727819442749},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24995610117912292},{"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},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":2,"locations":[{"id":"doi:10.1109/icca.2019.8899955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/144439","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/144439","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/144439/2/MPC-based%20Unified%20Trajectory%20Planning%20and%20Tracking%20Control%20Approach%20for%20Automated%20Guided%20Vehicles.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:dr.ntu.edu.sg:10356/144439","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/144439","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/144439/2/MPC-based%20Unified%20Trajectory%20Planning%20and%20Tracking%20Control%20Approach%20for%20Automated%20Guided%20Vehicles.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Conference Paper"},"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2983886045.pdf","grobid_xml":"https://content.openalex.org/works/W2983886045.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1571615214","https://openalex.org/W1578293866","https://openalex.org/W1969483458","https://openalex.org/W2000359213","https://openalex.org/W2121204166","https://openalex.org/W2145089737","https://openalex.org/W2170327615","https://openalex.org/W2190016588","https://openalex.org/W2336416123","https://openalex.org/W2346473199","https://openalex.org/W2519318326","https://openalex.org/W2551773494","https://openalex.org/W2735167925","https://openalex.org/W2753710570","https://openalex.org/W2767609945","https://openalex.org/W2774451424","https://openalex.org/W6677878110","https://openalex.org/W6681425221","https://openalex.org/W6744421545"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W2346323633","https://openalex.org/W1971413691","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,70],"of":[2,14,35],"Automated":[3],"Guided":[4],"Vehicles":[5],"(AGVs)":[6],"in":[7,68],"manufacturing":[8],"environment":[9],"is":[10,53,65],"an":[11,20],"important":[12],"part":[13],"industrial":[15],"automation.":[16],"This":[17],"paper":[18],"presents":[19],"MPC-based":[21],"unified":[22],"trajectory":[23,91],"planning":[24,40,44],"and":[25,41,78],"tracking":[26,92],"control":[27],"approach":[28],"for":[29],"AGVs.":[30],"Based":[31],"on":[32],"the":[33,36,57,69,74,86],"model":[34,50],"AGV,":[37],"improved":[38],"path":[39],"reference":[42],"velocity":[43],"techniques":[45],"are":[46,80],"developed.":[47],"Then":[48],"a":[49],"predictive":[51],"controller":[52],"designed":[54],"to":[55],"track":[56],"generated":[58],"trajectory.":[59],"In":[60],"addition,":[61],"obstacle":[62],"avoidance":[63],"capability":[64],"also":[66],"incorporated":[67],"framework.":[71],"To":[72],"evaluate":[73],"proposed":[75],"method,":[76],"simulations":[77],"experiments":[79],"conducted.":[81],"The":[82],"results":[83],"show":[84],"that":[85],"AGV":[87],"can":[88],"achieve":[89],"high":[90],"accuracy":[93],"with":[94],"smooth":[95],"movement.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}