{"id":"https://openalex.org/W2024509485","doi":"https://doi.org/10.1177/0278364907076790","title":"Combined Path-following and Obstacle Avoidance Control of a Wheeled Robot","display_name":"Combined Path-following and Obstacle Avoidance Control of a Wheeled Robot","publication_year":2007,"publication_date":"2007-04-01","ids":{"openalex":"https://openalex.org/W2024509485","doi":"https://doi.org/10.1177/0278364907076790","mag":"2024509485"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907076790","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907076790","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5035775898","display_name":"L. Lapierre","orcid":"https://orcid.org/0000-0002-4320-2118"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Lionel Lapierre","raw_affiliation_strings":["Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078340505","display_name":"R. Zapata","orcid":null},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rene Zapata","raw_affiliation_strings":["Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048669207","display_name":"Pascal L\u00e9pinay","orcid":null},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pascal Lepinay","raw_affiliation_strings":["Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr","institution_ids":["https://openalex.org/I19894307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035775898"],"corresponding_institution_ids":["https://openalex.org/I19894307"],"apc_list":null,"apc_paid":null,"fwci":4.2727,"has_fulltext":false,"cited_by_count":143,"citation_normalized_percentile":{"value":0.94338937,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"26","issue":"4","first_page":"361","last_page":"375"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973999857902527,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7811750173568726},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7071421146392822},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7039234638214111},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6740412712097168},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6329401731491089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5548834204673767},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.44800832867622375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.447609543800354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40338966250419617},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40243157744407654},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38308650255203247},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27024543285369873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24486681818962097},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.16796544194221497},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10174980759620667}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7811750173568726},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7071421146392822},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7039234638214111},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6740412712097168},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6329401731491089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5548834204673767},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.44800832867622375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.447609543800354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40338966250419617},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40243157744407654},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38308650255203247},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27024543285369873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24486681818962097},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.16796544194221497},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10174980759620667},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364907076790","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907076790","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:HAL:lirmm-00127995v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00127995","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, 2006, 1, pp.31. ⟨10.1177/0278364907076790⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W32443946","https://openalex.org/W90274328","https://openalex.org/W164400977","https://openalex.org/W575833360","https://openalex.org/W1504985399","https://openalex.org/W1853298655","https://openalex.org/W1963903137","https://openalex.org/W2029361563","https://openalex.org/W2069830673","https://openalex.org/W2088363200","https://openalex.org/W2090167557","https://openalex.org/W2096078692","https://openalex.org/W2102620728","https://openalex.org/W2110144538","https://openalex.org/W2111158727","https://openalex.org/W2129496494","https://openalex.org/W2129870396","https://openalex.org/W2297172695","https://openalex.org/W2619079668","https://openalex.org/W4206226097","https://openalex.org/W4365800133"],"related_works":["https://openalex.org/W2024966356","https://openalex.org/W2078804890","https://openalex.org/W2794899516","https://openalex.org/W2013879928","https://openalex.org/W2112352633","https://openalex.org/W2158014010","https://openalex.org/W2392593996","https://openalex.org/W3151316732","https://openalex.org/W2086038974","https://openalex.org/W2172432712"],"abstract_inverted_index":{"This":[0,54,109],"paper":[1],"proposes":[2],"an":[3,123,126],"algorithm":[4,137],"that":[5,78,130,144],"drives":[6,131],"a":[7,12,44,65,112,141,150],"unicycle":[8],"type":[9],"robot":[10],"to":[11,68,159],"desired":[13,151,161],"path,":[14],"including":[15],"obstacle":[16,99,124],"avoidance":[17,100],"capabilities.":[18],"The":[19,98,135],"path-following":[20,47,147],"control":[21,48,184],"design":[22],"relies":[23],"on":[24,95],"Lyapunov":[25],"theory,":[26],"backstepping":[27],"techniques":[28],"and":[29,176],"deals":[30],"explicitly":[31,59],"with":[32,140,169],"vehicle":[33,117,133,158],"dynamics.":[34],"Furthermore,":[35],"it":[36],"overcomes":[37],"the":[38,52,60,72,76,81,84,92,96,103,116,120,132,146,157,160,164,170,180,183],"initial":[39],"condition":[40],"constraints":[41],"present":[42],"in":[43,51,118,149],"number":[45],"of":[46,62,64,83,122,128,182],"strategies":[49],"described":[50],"literature.":[53],"is":[55,88,138],"done":[56],"by":[57],"controlling":[58],"rate":[61],"progression":[63],"\u201cvirtual":[66],"target\u201d":[67],"be":[69],"tracked":[70],"along":[71],"path;":[73],"thus":[74],"bypassing":[75,173],"problems":[77],"arise":[79],"when":[80],"position":[82],"path":[85,162],"target":[86],"point":[87,94],"simply":[89],"defined":[90],"as":[91],"closest":[93],"path.":[97],"part":[101],"uses":[102],"Deformable":[104],"Virtual":[105],"Zone":[106],"(DVZ)":[107],"principle.":[108],"principle":[110],"defines":[111],"safety":[113],"zone":[114],"around":[115],"which":[119,155],"presence":[121],"induces":[125],"\u201cintrusion":[127],"information\u201d":[129],"reaction.":[134],"overall":[136],"combined":[139],"guidance":[142],"solution":[143],"embeds":[145],"requirements":[148],"intrusion":[152],"information":[153],"function,":[154],"steers":[156],"while":[163],"DVZ":[165],"ensures":[166],"minimal":[167],"contact":[168],"obstacle,":[171],"implicitly":[172],"it.":[174],"Simulation":[175],"experimental":[177],"results":[178],"illustrate":[179],"performance":[181],"system":[185],"proposed.":[186]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":11}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}