{"id":"https://openalex.org/W1784977540","doi":"https://doi.org/10.3233/ica-1999-6403","title":"Hierarchical Fuzzy Path Tracking and Velocity Control of Autonomous Vehicles","display_name":"Hierarchical Fuzzy Path Tracking and Velocity Control of Autonomous Vehicles","publication_year":1999,"publication_date":"1999-10-01","ids":{"openalex":"https://openalex.org/W1784977540","doi":"https://doi.org/10.3233/ica-1999-6403","mag":"1784977540"},"language":"en","primary_location":{"id":"doi:10.3233/ica-1999-6403","is_oa":false,"landing_page_url":"https://doi.org/10.3233/ica-1999-6403","pdf_url":null,"source":{"id":"https://openalex.org/S107631664","display_name":"Integrated Computer-Aided Engineering","issn_l":"1069-2509","issn":["1069-2509","1875-8835"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Integrated Computer-Aided Engineering","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/A5109665869","display_name":"O. S\u00e1nchez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142936","display_name":"Centro de Investigaciones Cient\u00edficas Isla de la Cartuja","ror":"https://ror.org/05343aa75","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210142936"]},{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"O. S\u00e1nchez","raw_affiliation_strings":["Departamento de Ingenier\u00cda de Sistemas y Autom\u00e1tica, Universidad de Sevilla, Camino de los Descubrimientos, 41092 Sevilla, Spain, E-mail: fomar@cartuja.us.es, aollero@cartuja.us.es, guiller@cartuja.us.es"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00cda de Sistemas y Autom\u00e1tica, Universidad de Sevilla, Camino de los Descubrimientos, 41092 Sevilla, Spain, E-mail: fomar@cartuja.us.es, aollero@cartuja.us.es, guiller@cartuja.us.es","institution_ids":["https://openalex.org/I4210142936","https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077869451","display_name":"Alfredo Ollero Ojeda","orcid":"https://orcid.org/0000-0002-9745-5866"},"institutions":[{"id":"https://openalex.org/I4210142936","display_name":"Centro de Investigaciones Cient\u00edficas Isla de la Cartuja","ror":"https://ror.org/05343aa75","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210142936"]},{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Ollero","raw_affiliation_strings":["Departamento de Ingenier\u00cda de Sistemas y Autom\u00e1tica, Universidad de Sevilla, Camino de los Descubrimientos, 41092 Sevilla, Spain, E-mail: fomar@cartuja.us.es, aollero@cartuja.us.es, guiller@cartuja.us.es"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00cda de Sistemas y Autom\u00e1tica, Universidad de Sevilla, Camino de los Descubrimientos, 41092 Sevilla, Spain, E-mail: fomar@cartuja.us.es, aollero@cartuja.us.es, guiller@cartuja.us.es","institution_ids":["https://openalex.org/I4210142936","https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009151868","display_name":"Guillermo Heredia","orcid":"https://orcid.org/0000-0003-1571-173X"},"institutions":[{"id":"https://openalex.org/I4210142936","display_name":"Centro de Investigaciones Cient\u00edficas Isla de la Cartuja","ror":"https://ror.org/05343aa75","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210142936"]},{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"G. Heredia","raw_affiliation_strings":["Departamento de Ingenier\u00cda de Sistemas y Autom\u00e1tica, Universidad de Sevilla, Camino de los Descubrimientos, 41092 Sevilla, Spain, E-mail: fomar@cartuja.us.es, aollero@cartuja.us.es, guiller@cartuja.us.es"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00cda de Sistemas y Autom\u00e1tica, Universidad de Sevilla, Camino de los Descubrimientos, 41092 Sevilla, Spain, E-mail: fomar@cartuja.us.es, aollero@cartuja.us.es, guiller@cartuja.us.es","institution_ids":["https://openalex.org/I4210142936","https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5109665869"],"corresponding_institution_ids":["https://openalex.org/I4210142936","https://openalex.org/I79238269"],"apc_list":null,"apc_paid":null,"fwci":0.4002,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.61801217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":"4","first_page":"289","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6854019165039062},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6612237691879272},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5942903161048889},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5701644420623779},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.534329891204834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5327686667442322},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5324146747589111},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.5101049542427063},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5094495415687561},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49474427103996277},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4615260660648346},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.43743154406547546},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4186059236526489},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4148115813732147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3398231267929077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32257601618766785},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31674665212631226},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27736783027648926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2575089931488037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2522541582584381}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6854019165039062},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6612237691879272},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5942903161048889},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5701644420623779},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.534329891204834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5327686667442322},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5324146747589111},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.5101049542427063},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5094495415687561},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49474427103996277},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4615260660648346},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.43743154406547546},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4186059236526489},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4148115813732147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3398231267929077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32257601618766785},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31674665212631226},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27736783027648926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2575089931488037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2522541582584381},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/ica-1999-6403","is_oa":false,"landing_page_url":"https://doi.org/10.3233/ica-1999-6403","pdf_url":null,"source":{"id":"https://openalex.org/S107631664","display_name":"Integrated Computer-Aided Engineering","issn_l":"1069-2509","issn":["1069-2509","1875-8835"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Integrated Computer-Aided Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1824237966","https://openalex.org/W1972089811","https://openalex.org/W2004747556","https://openalex.org/W2005780170","https://openalex.org/W2007064482","https://openalex.org/W2083946676","https://openalex.org/W2106378071","https://openalex.org/W2124545446","https://openalex.org/W2166250064","https://openalex.org/W2617705622"],"related_works":["https://openalex.org/W2789518417","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,16],"steering":[4],"and":[5],"velocity":[6],"control":[7,14],"of":[8,31],"outdoor":[9],"autonomous":[10],"vehicles.":[11],"A":[12],"fuzzy":[13,41],"system":[15],"two":[17],"levels":[18],"is":[19],"used":[20],"to":[21],"track":[22],"a":[23,32,40],"path":[24,33],"previously":[25],"recorded":[26],"or":[27],"computed":[28],"by":[29],"means":[30],"planning":[34],"program.":[35],"In":[36],"the":[37],"first":[38],"level":[39],"logic":[42],"s":[43]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}