{"id":"https://openalex.org/W1559258345","doi":"https://doi.org/10.23919/ecc.1999.7099311","title":"Path controller implementation for an autonomous mobile robot","display_name":"Path controller implementation for an autonomous mobile robot","publication_year":1999,"publication_date":"1999-08-01","ids":{"openalex":"https://openalex.org/W1559258345","doi":"https://doi.org/10.23919/ecc.1999.7099311","mag":"1559258345"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.1999.7099311","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.1999.7099311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"1999 European Control Conference (ECC)","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/A5061191894","display_name":"H. Brugger","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"H. Brugger","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001592696","display_name":"Cristina Tar\u00edn","orcid":"https://orcid.org/0000-0002-6799-7138"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Tarin","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088168487","display_name":"Bernd Tibken","orcid":"https://orcid.org/0000-0002-4639-1487"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Tibken","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028499905","display_name":"E. Hofer","orcid":"https://orcid.org/0000-0002-6531-9122"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"E. P. Hofer","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061191894"],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":1.5561,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80478629,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"264","last_page":"267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9835000038146973,"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/mobile-robot","display_name":"Mobile robot","score":0.7041382789611816},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6520854234695435},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.638106644153595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6131306886672974},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5790624618530273},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5613042712211609},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5293158888816833},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5164158940315247},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5070757865905762},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4299374520778656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42279016971588135},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2374694049358368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1702808439731598},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1587807536125183}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7041382789611816},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6520854234695435},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.638106644153595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6131306886672974},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5790624618530273},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5613042712211609},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5293158888816833},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5164158940315247},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5070757865905762},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4299374520778656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42279016971588135},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2374694049358368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1702808439731598},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1587807536125183},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":1,"locations":[{"id":"doi:10.23919/ecc.1999.7099311","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.1999.7099311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"1999 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W90274328","https://openalex.org/W135131496","https://openalex.org/W1528196625","https://openalex.org/W1566072771","https://openalex.org/W1615330976","https://openalex.org/W2042105185","https://openalex.org/W2120944681","https://openalex.org/W2129496494"],"related_works":["https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2383775285","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2170661558"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,10],"implementation":[4,112],"of":[5,16,30,84,89,113,135,145,164],"a":[6,39,79,92,101,104,126],"path":[7,41,50],"controller":[8,51,93,158],"for":[9,45,103,153],"autonomous":[11,57],"mobile":[12,18,58],"robot.":[13],"The":[14],"problem":[15],"controlling":[17],"vehicles":[19],"lies":[20],"in":[21],"the":[22,49,56,61,72,85,90,131,136,142,146,157,165],"fact,":[23],"that":[24,55],"such":[25],"systems":[26],"have":[27,124],"three":[28],"degrees":[29],"freedom":[31],"but":[32],"only":[33],"two":[34],"control":[35,66],"inputs.":[36],"By":[37],"introducing":[38],"reference":[40,62,166],"with":[42],"velocity":[43],"profiles":[44],"translation":[46],"and":[47,76,110],"rotation":[48],"has":[52],"to":[53,161],"ensure":[54],"robot":[59,91],"tracks":[60],"path.":[63,167],"Classical":[64],"linear":[65],"methods":[67],"cannot":[68],"be":[69],"used":[70],"because":[71],"system":[73,149],"is":[74,94,100,150,159],"nonlinear":[75],"nonholonomic.":[77],"Using":[78],"canonical":[80],"state":[81],"space":[82],"model":[83,88],"linearized":[86],"kinematic":[87],"designed":[95],"by":[96],"pole":[97],"assignment.":[98],"There":[99],"demand":[102,122],"simple":[105],"tool":[106],"which":[107],"allows":[108],"rapid":[109],"easy":[111],"controllers":[114],"on":[115,130],"generic":[116],"real":[117],"systems.":[118],"To":[119],"satisfy":[120],"this":[121],"we":[123],"developed":[125],"real-time":[127],"environment":[128],"founded":[129],"simulation":[132],"toolbox":[133],"Simulink":[134],"package":[137],"MATLAB.":[138],"With":[139],"experimental":[140],"results":[141],"high":[143],"accuracy":[144],"closed":[147],"loop":[148],"shown.":[151],"Even":[152],"great":[154],"initial":[155],"disturbances":[156],"able":[160],"achieve":[162],"tracking":[163]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
