{"id":"https://openalex.org/W3134168319","doi":"https://doi.org/10.3390/s21051800","title":"Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot","display_name":"Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot","publication_year":2021,"publication_date":"2021-03-05","ids":{"openalex":"https://openalex.org/W3134168319","doi":"https://doi.org/10.3390/s21051800","mag":"3134168319","pmid":"https://pubmed.ncbi.nlm.nih.gov/33807698"},"language":"en","primary_location":{"id":"doi:10.3390/s21051800","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21051800","pdf_url":"https://www.mdpi.com/1424-8220/21/5/1800/pdf?version=1615165557","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/5/1800/pdf?version=1615165557","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032880042","display_name":"Linfei Hou","orcid":"https://orcid.org/0000-0003-1624-1629"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linfei Hou","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan 250061, China"],"raw_orcid":"https://orcid.org/0000-0003-1624-1629","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085317250","display_name":"Fengyu Zhou","orcid":"https://orcid.org/0000-0001-5140-7036"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Zhou","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan 250061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022140853","display_name":"Kiwan Kim","orcid":"https://orcid.org/0000-0002-7918-8098"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kiwan Kim","raw_affiliation_strings":["Department of Electrical &amp; Electronics Engineering, Chungnam State University, Cheongyang 33303, Korea"],"raw_orcid":"https://orcid.org/0000-0002-3204-4935","affiliations":[{"raw_affiliation_string":"Department of Electrical &amp; Electronics Engineering, Chungnam State University, Cheongyang 33303, Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069397472","display_name":"Liang Zhang","orcid":"https://orcid.org/0000-0002-1567-6666"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liang Zhang","raw_affiliation_strings":["School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai 264209, China"],"raw_orcid":"https://orcid.org/0000-0002-1567-6666","affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai 264209, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069397472"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.4547,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.8370588,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"21","issue":"5","first_page":"1800","last_page":"1800"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9976999759674072,"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":0.991100013256073,"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/robot","display_name":"Robot","score":0.7654513120651245},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6867008805274963},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6480140089988708},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5135421752929688},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5015928745269775},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.42178115248680115},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41690143942832947},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.41666916012763977},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.41395899653434753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3773519992828369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1888405680656433},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09262201189994812}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7654513120651245},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6867008805274963},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6480140089988708},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5135421752929688},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5015928745269775},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.42178115248680115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41690143942832947},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.41666916012763977},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41395899653434753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3773519992828369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1888405680656433},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09262201189994812},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s21051800","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21051800","pdf_url":"https://www.mdpi.com/1424-8220/21/5/1800/pdf?version=1615165557","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:33807698","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33807698","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:a4719d1afb6a4c32ba0532e8e8cfdaa3","is_oa":true,"landing_page_url":"https://doaj.org/article/a4719d1afb6a4c32ba0532e8e8cfdaa3","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":"Sensors, Vol 21, Iss 5, p 1800 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/5/1800/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21051800","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":"Sensors; Volume 21; Issue 5; Pages: 1800","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7961813","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7961813","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21051800","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21051800","pdf_url":"https://www.mdpi.com/1424-8220/21/5/1800/pdf?version=1615165557","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3134168319.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1630655145","https://openalex.org/W1905736656","https://openalex.org/W1970744413","https://openalex.org/W1972855608","https://openalex.org/W1975415580","https://openalex.org/W1978755966","https://openalex.org/W1980218901","https://openalex.org/W2027070077","https://openalex.org/W2047776527","https://openalex.org/W2049574084","https://openalex.org/W2064463157","https://openalex.org/W2088986947","https://openalex.org/W2091231427","https://openalex.org/W2098928970","https://openalex.org/W2109032771","https://openalex.org/W2119866059","https://openalex.org/W2123431998","https://openalex.org/W2129439035","https://openalex.org/W2133495469","https://openalex.org/W2146828012","https://openalex.org/W2150010456","https://openalex.org/W2166967917","https://openalex.org/W2288924176","https://openalex.org/W2429236484","https://openalex.org/W2541801666","https://openalex.org/W2558485687","https://openalex.org/W2734821685","https://openalex.org/W2782840524","https://openalex.org/W2792887144","https://openalex.org/W2793546549","https://openalex.org/W2794564773","https://openalex.org/W2903624615","https://openalex.org/W2905683736","https://openalex.org/W2986871623","https://openalex.org/W2987488488","https://openalex.org/W2997627445","https://openalex.org/W3125372217","https://openalex.org/W4237607221","https://openalex.org/W6663246051","https://openalex.org/W6680023198","https://openalex.org/W6729768565"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"The":[0,45,138,156,186],"four-wheeled":[1,168],"Mecanum":[2,32,50,100,124,169],"robot":[3,34,53,71,170],"is":[4,19,140],"widely":[5],"used":[6],"in":[7,26,161,172],"various":[8,115],"industries":[9],"due":[10],"to":[11,90,200],"its":[12],"maneuverability":[13],"and":[14,61,72,103,145,152,163,205],"strong":[15],"load":[16],"capacity,":[17],"which":[18],"suitable":[20],"for":[21,99],"performing":[22],"precise":[23],"transportation":[24],"tasks":[25],"a":[27],"narrow":[28],"environment.":[29],"While":[30],"the":[31,49,66,70,73,82,86,92,105,119,123,132,143,167,179,182],"wheel":[33,51,101,125],"has":[35,158],"mobility,":[36],"it":[37],"also":[38],"consumes":[39],"more":[40],"energy":[41,96,108,120,153,189,196],"than":[42],"ordinary":[43],"robots.":[44],"power":[46,75,83],"consumed":[47],"by":[48,197],"mobile":[52],"varies":[54],"enormously":[55],"depending":[56],"on":[57,114],"their":[58],"operating":[59],"regimes":[60],"environments.":[62],"Therefore,":[63],"only":[64],"knowing":[65],"working":[67],"environment":[68],"of":[69,85,95,107,122,134,181,188],"accurate":[74],"consumption":[76,84,97,109,121,190],"model":[77,139,147,157,183],"can":[78,192],"we":[79],"accurately":[80],"predict":[81],"robot.":[87],"In":[88],"order":[89],"increase":[91],"applicable":[93],"scenarios":[94],"modeling":[98,191],"robots":[102,194],"improve":[104],"accuracy":[106,180],"modeling,":[110],"this":[111],"paper":[112],"focuses":[113],"factors":[116],"that":[117,178],"affect":[118],"robot,":[126],"such":[127],"as":[128],"motor":[129],"temperature,":[130],"terrain,":[131],"center":[133],"gravity":[135],"position,":[136],"etc.":[137],"derived":[141],"from":[142],"kinematic":[144],"kinetic":[146],"combined":[148],"with":[149,166],"electrical":[150],"engineering":[151],"flow":[154],"principles.":[155],"been":[159],"simulated":[160],"MATLAB":[162],"experimentally":[164],"validated":[165],"platform":[171],"our":[173],"lab.":[174],"Experimental":[175],"results":[176,187],"show":[177],"reached":[184],"95%.":[185],"help":[193],"save":[195],"helping":[198],"them":[199],"perform":[201],"rational":[202],"path":[203],"planning":[204],"task":[206],"planning.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
