{"id":"https://openalex.org/W3000295337","doi":"https://doi.org/10.1145/3372938.3372980","title":"Optimal PID control of an autonomous vehicle using Butterfly Optimization Algorithm BOA","display_name":"Optimal PID control of an autonomous vehicle using Butterfly Optimization Algorithm BOA","publication_year":2019,"publication_date":"2019-10-23","ids":{"openalex":"https://openalex.org/W3000295337","doi":"https://doi.org/10.1145/3372938.3372980","mag":"3000295337"},"language":"en","primary_location":{"id":"doi:10.1145/3372938.3372980","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3372938.3372980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th International Conference on Big Data and Internet of Things","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/A5046619120","display_name":"Lhoussain El Hajjami","orcid":"https://orcid.org/0000-0001-5917-6287"},"institutions":[{"id":"https://openalex.org/I81605866","display_name":"Sidi Mohamed Ben Abdellah University","ror":"https://ror.org/04efg9a07","country_code":"MA","type":"education","lineage":["https://openalex.org/I81605866"]}],"countries":["MA"],"is_corresponding":true,"raw_author_name":"Lhoussain El Hajjami","raw_affiliation_strings":["Laboratory of Computer Science and Interdisciplinary Physics (LIPI), Sidi Mohamed Ben Abdellah University, Fez, Morocco"],"affiliations":[{"raw_affiliation_string":"Laboratory of Computer Science and Interdisciplinary Physics (LIPI), Sidi Mohamed Ben Abdellah University, Fez, Morocco","institution_ids":["https://openalex.org/I81605866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027769215","display_name":"El Mehdi Mellouli","orcid":"https://orcid.org/0000-0003-0932-459X"},"institutions":[{"id":"https://openalex.org/I81605866","display_name":"Sidi Mohamed Ben Abdellah University","ror":"https://ror.org/04efg9a07","country_code":"MA","type":"education","lineage":["https://openalex.org/I81605866"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"El Mehdi Mellouli","raw_affiliation_strings":["Laboratory of Engineering, Systems and Applications (LISA), Sidi Mohamed Ben Abdellah University, Fez, Morocco"],"affiliations":[{"raw_affiliation_string":"Laboratory of Engineering, Systems and Applications (LISA), Sidi Mohamed Ben Abdellah University, Fez, Morocco","institution_ids":["https://openalex.org/I81605866"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014403727","display_name":"Mohammed Berrada","orcid":"https://orcid.org/0000-0003-4167-2324"},"institutions":[{"id":"https://openalex.org/I81605866","display_name":"Sidi Mohamed Ben Abdellah University","ror":"https://ror.org/04efg9a07","country_code":"MA","type":"education","lineage":["https://openalex.org/I81605866"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Mohammed Berrada","raw_affiliation_strings":["Laboratory of Computer Science and Interdisciplinary Physics (LIPI), Sidi Mohamed Ben Abdellah University, Fez, Morocco"],"affiliations":[{"raw_affiliation_string":"Laboratory of Computer Science and Interdisciplinary Physics (LIPI), Sidi Mohamed Ben Abdellah University, Fez, Morocco","institution_ids":["https://openalex.org/I81605866"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5046619120"],"corresponding_institution_ids":["https://openalex.org/I81605866"],"apc_list":null,"apc_paid":null,"fwci":1.5325,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.86902998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9941999912261963,"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":0.9941999912261963,"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/T11081","display_name":"Advanced Control Systems Design","score":0.993399977684021,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9830999970436096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.932783842086792},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8002598881721497},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6613434553146362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49875926971435547},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4885760247707367},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.48348671197891235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3378691077232361},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2657809257507324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2566387355327606},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24544286727905273},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.22806382179260254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11925554275512695},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.11114007234573364},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06460556387901306}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.932783842086792},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8002598881721497},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6613434553146362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49875926971435547},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4885760247707367},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.48348671197891235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3378691077232361},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2657809257507324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2566387355327606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24544286727905273},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.22806382179260254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11925554275512695},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.11114007234573364},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06460556387901306},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3372938.3372980","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3372938.3372980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th International Conference on Big Data and Internet of Things","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W341879454","https://openalex.org/W1544016679","https://openalex.org/W1999392262","https://openalex.org/W2056822440","https://openalex.org/W2107537851","https://openalex.org/W2108311601","https://openalex.org/W2122117945","https://openalex.org/W2122250135","https://openalex.org/W2484134798","https://openalex.org/W2790662215","https://openalex.org/W4205430027","https://openalex.org/W4250035615"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W4320922540","https://openalex.org/W82747921","https://openalex.org/W4384916966","https://openalex.org/W1989195983","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0,23],"paper":[1],"present":[2],"an":[3],"optimal":[4,38],"PID":[5,42],"controller":[6,46],"based":[7],"on":[8],"Butterfly":[9],"Optimization":[10],"Algorithm":[11],"(BOA)":[12],"in":[13,50],"order":[14],"to":[15,35,61],"control":[16],"the":[17,25,37,41],"lateral":[18,53],"dynamics":[19],"of":[20,40,52,63],"autonomous":[21],"vehicles.":[22],"is":[24],"first":[26],"time":[27],"that":[28],"this":[29],"new":[30],"algorithm":[31],"will":[32],"be":[33,59],"used":[34],"search":[36],"values,":[39],"controller.":[43],"The":[44],"proposed":[45],"show":[47],"good":[48],"results":[49],"term":[51],"acceleration":[54],"or":[55],"yaw":[56],"rate":[57],"can":[58],"compared":[60],"those":[62],"PID-PSO":[64],"and":[65],"PID-GA.":[66]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}