{"id":"https://openalex.org/W2742422960","doi":"https://doi.org/10.3390/robotics6030017","title":"Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application","display_name":"Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application","publication_year":2017,"publication_date":"2017-08-10","ids":{"openalex":"https://openalex.org/W2742422960","doi":"https://doi.org/10.3390/robotics6030017","mag":"2742422960"},"language":"en","primary_location":{"id":"doi:10.3390/robotics6030017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6030017","pdf_url":"https://www.mdpi.com/2218-6581/6/3/17/pdf?version=1502448382","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/6/3/17/pdf?version=1502448382","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103498634","display_name":"Ching\u2010Long Shih","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Ching-Long Shih","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033129730","display_name":"Li-Chen Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Li-Chen Lin","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103498634"],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":{"value":1800,"currency":"CHF","value_usd":2172},"apc_paid":{"value":1800,"currency":"CHF","value_usd":2172},"fwci":1.5179,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.87568797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"17","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7540843486785889},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7133852243423462},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6037449836730957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6007790565490723},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5655443072319031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49704769253730774},{"id":"https://openalex.org/keywords/edge-detection","display_name":"Edge detection","score":0.4290354549884796},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4197787344455719},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4173422157764435},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41606754064559937},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.22820508480072021},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21407705545425415}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7540843486785889},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7133852243423462},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6037449836730957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6007790565490723},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5655443072319031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49704769253730774},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.4290354549884796},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4197787344455719},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4173422157764435},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41606754064559937},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.22820508480072021},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21407705545425415},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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":3,"locations":[{"id":"doi:10.3390/robotics6030017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6030017","pdf_url":"https://www.mdpi.com/2218-6581/6/3/17/pdf?version=1502448382","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:97b80e57b9c94c08b0fd130ab45a1de4","is_oa":true,"landing_page_url":"https://doaj.org/article/97b80e57b9c94c08b0fd130ab45a1de4","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 6, Iss 3, p 17 (2017)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/6/3/17/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics6030017","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":"Robotics; Volume 6; Issue 3; Pages: 17","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics6030017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6030017","pdf_url":"https://www.mdpi.com/2218-6581/6/3/17/pdf?version=1502448382","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2742422960.pdf"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W1487983405","https://openalex.org/W1981934656","https://openalex.org/W2014724424","https://openalex.org/W2018548648","https://openalex.org/W2098194630","https://openalex.org/W2127988032","https://openalex.org/W2131513526","https://openalex.org/W2133066324","https://openalex.org/W2140757324","https://openalex.org/W2145023731","https://openalex.org/W2165709760","https://openalex.org/W3180482864","https://openalex.org/W6681120640"],"related_works":["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/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,11,33,62,91],"method":[4],"for":[5,14,96],"trajectory":[6,66],"planning":[7],"and":[8,64,78],"control":[9,67],"of":[10,42,81,103],"mobile":[12,28,58],"robot":[13,22,29],"application":[15],"in":[16],"picture":[17,98],"drawing":[18,99],"from":[19,86],"images.":[20],"The":[21,69],"is":[23],"an":[24,56],"accurate":[25],"differential":[26],"drive":[27],"platform":[30],"controlled":[31],"by":[32],"field-programmable-gate-array":[34],"(FPGA)":[35],"controller.":[36],"By":[37],"not":[38],"locating":[39],"the":[40,43,46,101],"tip":[41],"pen":[44],"at":[45],"middle":[47],"between":[48],"two":[49],"wheels,":[50],"we":[51],"are":[52,72],"able":[53],"to":[54],"construct":[55],"omnidirectional":[57],"platform,":[59],"thus":[60],"implementing":[61],"simple":[63],"effective":[65],"method.":[68,106],"reference":[70],"trajectories":[71],"generated":[73],"based":[74],"on":[75,90],"line":[76],"simplification":[77],"B-spline":[79],"approximation":[80],"digitized":[82],"input":[83],"curves":[84],"obtained":[85],"Canny\u2019s":[87],"edge-detection":[88],"algorithm":[89],"gray":[92],"image.":[93],"Experimental":[94],"results":[95],"image":[97],"show":[100],"advantage":[102],"this":[104],"proposed":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2017-08-17T00:00:00"}
