{"id":"https://openalex.org/W2000428873","doi":"https://doi.org/10.1631/fitee.1400183","title":"Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking","display_name":"Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking","publication_year":2015,"publication_date":"2015-02-01","ids":{"openalex":"https://openalex.org/W2000428873","doi":"https://doi.org/10.1631/fitee.1400183","mag":"2000428873"},"language":"en","primary_location":{"id":"doi:10.1631/fitee.1400183","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1400183","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology & Electronic Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hull-repository.worktribe.com/output/3797108","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033349886","display_name":"Hamza Khan","orcid":"https://orcid.org/0000-0002-9227-6631"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT","PL"],"is_corresponding":true,"raw_author_name":"Hamza Khan","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, 16163, Italy","Division of Theory of Machines and Robots, Warsaw University of Technology, Warsaw, 00-661, Poland","Warsaw University of Technology","Istituto Italiano di Tecnologia"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Division of Theory of Machines and Robots, Warsaw University of Technology, Warsaw, 00-661, Poland","institution_ids":["https://openalex.org/I108403487"]},{"raw_affiliation_string":"Warsaw University of Technology","institution_ids":["https://openalex.org/I108403487"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052786858","display_name":"Jamshed Iqbal","orcid":"https://orcid.org/0000-0002-0795-0282"},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Jamshed Iqbal","raw_affiliation_strings":["Department of Electrical Engineering, COMSATS Institute of Information Technology, Islamabad, 44000, Pakistan","COMSATS institute of information technology"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, COMSATS Institute of Information Technology, Islamabad, 44000, Pakistan","institution_ids":["https://openalex.org/I16076960"]},{"raw_affiliation_string":"COMSATS institute of information technology","institution_ids":["https://openalex.org/I16076960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068070478","display_name":"Khelifa Baizid","orcid":"https://orcid.org/0000-0002-3438-9291"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Khelifa Baizid","raw_affiliation_strings":["Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, 03043, Italy","[University of Cassino and Southern Lazio]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino, 03043, Italy","institution_ids":["https://openalex.org/I186995768"]},{"raw_affiliation_string":"[University of Cassino and Southern Lazio]","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084414791","display_name":"Teresa Zieli\u0144ska","orcid":"https://orcid.org/0000-0002-0475-0875"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Teresa Zielinska","raw_affiliation_strings":["Division of Theory of Machines and Robots, Warsaw University of Technology, Warsaw, 00-661, Poland","[Warsaw University of Technology]"],"affiliations":[{"raw_affiliation_string":"Division of Theory of Machines and Robots, Warsaw University of Technology, Warsaw, 00-661, Poland","institution_ids":["https://openalex.org/I108403487"]},{"raw_affiliation_string":"[Warsaw University of Technology]","institution_ids":["https://openalex.org/I108403487"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033349886"],"corresponding_institution_ids":["https://openalex.org/I108403487","https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":8.9046,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.97533635,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"16","issue":"2","first_page":"166","last_page":"172"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9937000274658203,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9918000102043152,"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/slippage","display_name":"Slippage","score":0.8617973327636719},{"id":"https://openalex.org/keywords/skid","display_name":"Skid (aerodynamics)","score":0.7970949411392212},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7093609571456909},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6702237129211426},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6082759499549866},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5130211710929871},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.4655979573726654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.450663685798645},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44601890444755554},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42471441626548767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3553617000579834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21202880144119263},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.16411808133125305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.141110360622406},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10985803604125977},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07825970649719238}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.8617973327636719},{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.7970949411392212},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7093609571456909},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6702237129211426},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6082759499549866},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5130211710929871},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.4655979573726654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.450663685798645},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44601890444755554},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42471441626548767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3553617000579834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21202880144119263},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.16411808133125305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.141110360622406},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10985803604125977},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07825970649719238},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1631/fitee.1400183","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1400183","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology & Electronic Engineering","raw_type":"journal-article"},{"id":"pmh:oai:discovery.dundee.ac.uk:publications/3c8bbc5a-9690-4fc4-b8ab-6c9ff9e77eca","is_oa":false,"landing_page_url":"https://discovery.dundee.ac.uk/en/publications/3c8bbc5a-9690-4fc4-b8ab-6c9ff9e77eca","pdf_url":null,"source":{"id":"https://openalex.org/S4306400523","display_name":"Discovery Research Portal (University of Dundee)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177639307","host_organization_name":"University of Dundee","host_organization_lineage":["https://openalex.org/I177639307"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Khan, H, Iqbal, J, Baizid, K & Zielinska, T 2015, 'Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking', Frontiers of Information Technology and Electronic Engineering, vol. 16, no. 2, pp. 166-172. https://doi.org/10.1631/FITEE.1400183","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:hull-repository.worktribe.com:3797108","is_oa":true,"landing_page_url":"https://hull-repository.worktribe.com/output/3797108","pdf_url":null,"source":{"id":"https://openalex.org/S4306400827","display_name":"Repository@Hull (Worktribe) (University of Hull)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I191240316","host_organization_name":"University of Hull","host_organization_lineage":["https://openalex.org/I191240316"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:hull-repository.worktribe.com:3797108","is_oa":true,"landing_page_url":"https://hull-repository.worktribe.com/output/3797108","pdf_url":null,"source":{"id":"https://openalex.org/S4306400827","display_name":"Repository@Hull (Worktribe) (University of Hull)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I191240316","host_organization_name":"University of Hull","host_organization_lineage":["https://openalex.org/I191240316"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W185061183","https://openalex.org/W1608145666","https://openalex.org/W1804085046","https://openalex.org/W1970610756","https://openalex.org/W1986469871","https://openalex.org/W1987424218","https://openalex.org/W2003349240","https://openalex.org/W2010587143","https://openalex.org/W2011881772","https://openalex.org/W2016248871","https://openalex.org/W2052171629","https://openalex.org/W2071501836","https://openalex.org/W2079321938","https://openalex.org/W2114053147","https://openalex.org/W2130187425","https://openalex.org/W2136981479","https://openalex.org/W2156551348","https://openalex.org/W2158822991","https://openalex.org/W2314590939","https://openalex.org/W2319587673","https://openalex.org/W2489813653","https://openalex.org/W2555827514","https://openalex.org/W2615434978","https://openalex.org/W2741390865","https://openalex.org/W2747877459","https://openalex.org/W2798278254"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W845789065","https://openalex.org/W2039606477","https://openalex.org/W2361542615","https://openalex.org/W585312555","https://openalex.org/W2055370323","https://openalex.org/W2052447287","https://openalex.org/W4320023705","https://openalex.org/W2374721856","https://openalex.org/W840597344"],"abstract_inverted_index":{"This":[0,133],"research":[1,134],"formulates":[2],"a":[3,17,22,104],"path-following":[4],"control":[5,19,61,115],"problem":[6],"subjected":[7],"to":[8,66],"wheel":[9,129],"slippage":[10,130],"and":[11,13,41,99,131,144],"skid":[12,90,100],"solves":[14],"it":[15],"using":[16],"logic-based":[18],"scheme":[20,32],"for":[21,53,86],"wheeled":[23],"mobile":[24],"robot":[25,118],"(WMR).":[26],"The":[27,83,117],"novelty":[28],"of":[29,73,79,112,128],"the":[30,47,51,71,74,94,110,113,121,126],"proposed":[31,95,114],"lies":[33],"in":[34,77,125,138],"its":[35,136],"methodology":[36],"that":[37],"considers":[38],"both":[39],"longitudinal":[40,54],"lateral":[42,87],"slip":[43,49,56,88],"components.":[44],"Based":[45],"on":[46,70,93],"derived":[48],"model,":[50],"controller":[52,75,85],"motion":[55],"has":[57],"been":[58,64],"synthesized.":[59],"Various":[60],"parameters":[62],"have":[63],"studied":[65],"investigate":[67],"their":[68,80],"effects":[69],"performance":[72],"resulting":[76],"selection":[78],"optimum":[81],"values.":[82],"designed":[84],"or":[89],"is":[91],"based":[92],"side":[96],"friction":[97],"model":[98],"check":[101],"condition.":[102],"Considering":[103],"car-like":[105],"WMR,":[106],"simulation":[107],"results":[108],"demonstrate":[109],"effectiveness":[111],"scheme.":[116],"successfully":[119],"followed":[120],"desired":[122],"circular":[123],"trajectory":[124],"presence":[127],"skid.":[132],"finds":[135],"potential":[137],"various":[139],"applications":[140],"involving":[141],"WMR":[142],"navigation":[143],"control.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-19T08:26:33.389920","created_date":"2025-10-10T00:00:00"}