{"id":"https://openalex.org/W1598777456","doi":"https://doi.org/10.23919/ecc.2001.7076183","title":"Combining trajectory control and position control for autonomous mobile robot navigation","display_name":"Combining trajectory control and position control for autonomous mobile robot navigation","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W1598777456","doi":"https://doi.org/10.23919/ecc.2001.7076183","mag":"1598777456"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2001.7076183","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 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/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":true,"raw_author_name":"C. Tarin","raw_affiliation_strings":["Department of Measurement, University of Ulm, Ulm, Germany","Department of Measurement, Control and Microtechnology, Faculty of Electrical Engineering, University of Ulm, D-89069 Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Measurement, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Department of Measurement, Control and Microtechnology, Faculty of Electrical Engineering, University of Ulm, D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","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":false,"raw_author_name":"H. Brugger","raw_affiliation_strings":["Department of Measurement, University of Ulm, Ulm, Germany","Department of Measurement, Control and Microtechnology, Faculty of Electrical Engineering, University of Ulm, D-89069 Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Measurement, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Department of Measurement, Control and Microtechnology, Faculty of Electrical Engineering, University of Ulm, D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","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":["Department of Measurement, University of Ulm, Ulm, Germany","Department of Measurement, Control and Microtechnology, Faculty of Electrical Engineering, University of Ulm, D-89069 Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Measurement, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Department of Measurement, Control and Microtechnology, Faculty of Electrical Engineering, University of Ulm, D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088168487","display_name":"Bernd Tibken","orcid":"https://orcid.org/0000-0002-4639-1487"},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Tibken","raw_affiliation_strings":["Department of Automation and Control, University of Wuppertal, Wuppertal, Germany","Department of Automation and Control, Faculty of Electrical Engineering and Information Technology, University of Wuppertal, D-42119 Wuppertal, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Control, University of Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]},{"raw_affiliation_string":"Department of Automation and Control, Faculty of Electrical Engineering and Information Technology, University of Wuppertal, D-42119 Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001592696"],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.06453374,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1804","last_page":"1809"},"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":1.0,"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":1.0,"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":0.9998000264167786,"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":0.9961000084877014,"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/trajectory","display_name":"Trajectory","score":0.864750862121582},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6793363690376282},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6560593843460083},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6552762985229492},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6016536355018616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5840656757354736},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5581988096237183},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5444113612174988},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.5432040691375732},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5015935897827148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4678920805454254},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4543168246746063},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44763267040252686},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41544023156166077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39475110173225403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37283855676651},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27232834696769714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25625866651535034}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.864750862121582},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6793363690376282},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6560593843460083},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6552762985229492},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6016536355018616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5840656757354736},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5581988096237183},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5444113612174988},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.5432040691375732},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5015935897827148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4678920805454254},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4543168246746063},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44763267040252686},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41544023156166077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39475110173225403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37283855676651},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27232834696769714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25625866651535034},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2001.7076183","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1540059687","https://openalex.org/W1555728145","https://openalex.org/W1566072771","https://openalex.org/W2120944681","https://openalex.org/W2167677130"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W1986528036","https://openalex.org/W2209062660","https://openalex.org/W4242231179","https://openalex.org/W2216521820","https://openalex.org/W4285332827","https://openalex.org/W2141773360","https://openalex.org/W1522691079","https://openalex.org/W2171368057","https://openalex.org/W3197961851"],"abstract_inverted_index":{"In":[0,54,108],"the":[1,6,10,19,24,29,44,90,94,101,105,123,127,131,139,148,172,175],"present":[2],"paper,":[3],"we":[4],"described":[5],"system":[7],"architecture":[8],"of":[9,93,104,130,138,174],"autonomous":[11],"mobile":[12,106],"robot":[13,124],"B21":[14],"from":[15,100],"RWI":[16],"focussing":[17],"on":[18,147],"double":[20],"control":[21,26,38,69,72,117,162],"loop":[22],"implementing":[23],"kinematic":[25,45],"together":[27],"with":[28],"underlying":[30],"drive":[31,37],"control.":[32,53,165],"As":[33],"a":[34,64,86,110,115,151],"highly":[35],"accurate":[36],"is":[39,47,73,81,97,119,155],"taken":[40],"for":[41,49,168],"granted":[42],"only":[43],"model":[46],"considered":[48],"trajectory":[50,68,96,133,161,181],"and":[51,70,163,182],"position":[52,71,103,164,183],"order":[55],"to":[56,112],"manage":[57],"successfully":[58],"demanding":[59],"tasks":[60],"in":[61],"dynamic":[62],"environments,":[63],"motion":[65,116,177],"strategy":[66,118],"combining":[67],"suggested.":[74],"Two":[75],"different":[76],"examples":[77],"where":[78],"this":[79],"combination":[80],"required":[82],"are":[83,185],"shown.":[84],"When":[85,142],"self-localization":[87],"error":[88],"occurs,":[89],"starting":[91,128],"point":[92,129],"reference":[95,132],"far":[98],"away":[99],"actual":[102],"robot.":[107],"such":[109,121],"case,":[111],"avoid":[113],"re-planning":[114],"implemented":[120],"that":[122],"finds":[125],"again":[126],"without":[134],"crossing":[135],"large":[136],"parts":[137],"unknown":[140],"environment.":[141],"an":[143],"unexpected":[144],"obstacle":[145],"appears":[146],"planned":[149],"path":[150],"collision":[152],"avoidance":[153],"manoeuvre":[154,158],"initiated.":[156],"This":[157],"also":[159],"combines":[160],"Experimental":[166],"results":[167],"both":[169],"cases":[170],"show":[171],"performance":[173],"presented":[176],"strategies.":[178],"The":[179],"used":[180],"controllers":[184],"described.":[186]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
