{"id":"https://openalex.org/W3174890276","doi":"https://doi.org/10.3390/a14070196","title":"Self-Adaptive Path Tracking Control for Mobile Robots under Slippage Conditions Based on an RBF Neural Network","display_name":"Self-Adaptive Path Tracking Control for Mobile Robots under Slippage Conditions Based on an RBF Neural Network","publication_year":2021,"publication_date":"2021-06-28","ids":{"openalex":"https://openalex.org/W3174890276","doi":"https://doi.org/10.3390/a14070196","mag":"3174890276"},"language":"en","primary_location":{"id":"doi:10.3390/a14070196","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a14070196","pdf_url":"https://www.mdpi.com/1999-4893/14/7/196/pdf?version=1625023832","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/14/7/196/pdf?version=1625023832","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056826834","display_name":"Yiting Kang","orcid":"https://orcid.org/0000-0003-4806-636X"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yiting Kang","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035389273","display_name":"Biao Xue","orcid":"https://orcid.org/0000-0002-3996-0311"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Xue","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015547124","display_name":"Riya Zeng","orcid":"https://orcid.org/0000-0003-2163-2923"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Riya Zeng","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056826834"],"corresponding_institution_ids":["https://openalex.org/I92403157"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.5493,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.64987706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"14","issue":"7","first_page":"196","last_page":"196"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9983000159263611,"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":0.998199999332428,"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/slipping","display_name":"Slipping","score":0.7536119222640991},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6682676672935486},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6651166081428528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6292191743850708},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.6229840517044067},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5782965421676636},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5602084994316101},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.526358962059021},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.48980212211608887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4702771008014679},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44905781745910645},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.413925439119339},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33973371982574463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32255518436431885},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3157283663749695},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21639633178710938},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16550156474113464}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7536119222640991},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6682676672935486},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6651166081428528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6292191743850708},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.6229840517044067},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5782965421676636},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5602084994316101},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.526358962059021},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.48980212211608887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4702771008014679},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44905781745910645},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.413925439119339},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33973371982574463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32255518436431885},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3157283663749695},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21639633178710938},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16550156474113464},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/a14070196","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a14070196","pdf_url":"https://www.mdpi.com/1999-4893/14/7/196/pdf?version=1625023832","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5930017ce88646c0804b6a8832ff972d","is_oa":true,"landing_page_url":"https://doaj.org/article/5930017ce88646c0804b6a8832ff972d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 14, Iss 7, p 196 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1999-4893/14/7/196/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/a14070196","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Algorithms; Volume 14; Issue 7; Pages: 196","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/a14070196","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a14070196","pdf_url":"https://www.mdpi.com/1999-4893/14/7/196/pdf?version=1625023832","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2773807327","display_name":null,"funder_award_id":"FRF-TP-18-010A2","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3174890276.pdf","grobid_xml":"https://content.openalex.org/works/W3174890276.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W612370841","https://openalex.org/W644423721","https://openalex.org/W1963754511","https://openalex.org/W1975867865","https://openalex.org/W1979195338","https://openalex.org/W2031367083","https://openalex.org/W2032951866","https://openalex.org/W2048431302","https://openalex.org/W2061283188","https://openalex.org/W2081242007","https://openalex.org/W2085277206","https://openalex.org/W2107712101","https://openalex.org/W2112048335","https://openalex.org/W2117936907","https://openalex.org/W2139913410","https://openalex.org/W2147600827","https://openalex.org/W2155675828","https://openalex.org/W2169552307","https://openalex.org/W2282706240","https://openalex.org/W2551773494","https://openalex.org/W2590335543","https://openalex.org/W2735750757","https://openalex.org/W2763777242","https://openalex.org/W2811464482","https://openalex.org/W2965349141","https://openalex.org/W2969573300","https://openalex.org/W2982679019","https://openalex.org/W2995928974","https://openalex.org/W6684659230","https://openalex.org/W6729700280","https://openalex.org/W6766867228"],"related_works":["https://openalex.org/W3000336260","https://openalex.org/W3118845583","https://openalex.org/W2061621042","https://openalex.org/W2032786669","https://openalex.org/W4384828212","https://openalex.org/W2115112145","https://openalex.org/W2586109849","https://openalex.org/W2908229428","https://openalex.org/W2589929471","https://openalex.org/W2377701914"],"abstract_inverted_index":{"Wheeled":[0],"mobile":[1,166],"robots":[2,167],"are":[3,51,72,103],"widely":[4],"implemented":[5],"in":[6,74],"the":[7,75,99,121],"field":[8],"environment":[9],"where":[10],"slipping":[11],"and":[12,41,56,67,69,77,108,129,138,151],"skidding":[13],"may":[14],"often":[15],"occur.":[16],"This":[17],"paper":[18],"presents":[19],"a":[20,28,45,109,136,139],"self-adaptive":[21],"path":[22,112],"tracking":[23,58],"control":[24,63,90,101,123,158],"framework":[25,64,102,124,159],"based":[26],"on":[27,169],"radial":[29],"basis":[30],"function":[31],"(RBF)":[32],"neural":[33],"network":[34,84,142],"to":[35,91,94,105,153],"overcome":[36],"slippage":[37],"disturbances.":[38],"Both":[39],"kinematic":[40,68],"dynamic":[42,70],"models":[43,71],"of":[44,135],"wheeled":[46],"robot":[47],"with":[48,53,113,133],"skid-steer":[49],"characteristics":[50],"established":[52],"position,":[54],"orientation,":[55],"equivalent":[57],"error":[59],"definitions.":[60],"A":[61],"dual-loop":[62],"is":[65,85],"proposed,":[66],"integrated":[73],"inner":[76],"outer":[78],"loops,":[79],"respectively.":[80],"An":[81],"RBF":[82],"neutral":[83],"employed":[86,163],"for":[87,164],"yaw":[88],"rate":[89],"realize":[92],"adaptability":[93,152],"longitudinal":[95,154],"slippage.":[96,155],"Simulations":[97],"employing":[98],"proposed":[100,122,157],"performed":[104],"track":[106],"snaking":[107],"DLC":[110],"reference":[111],"slip":[114],"ratio":[115],"variations.":[116],"The":[117,156],"results":[118],"suggest":[119],"that":[120],"yields":[125],"much":[126],"lower":[127],"position":[128],"orientation":[130],"errors":[131],"compared":[132],"those":[134],"PID":[137],"single":[140],"neuron":[141],"(SNN)":[143],"controller.":[144],"It":[145],"also":[146],"exhibits":[147],"prior":[148],"anti-disturbance":[149],"performance":[150],"could":[160],"thus":[161],"be":[162],"autonomous":[165],"working":[168],"complex":[170],"terrain.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}