{"id":"https://openalex.org/W4400722408","doi":"https://doi.org/10.3390/s24144650","title":"Optimizing the Steering of Driverless Personal Mobility Pods with a Novel Differential Harris Hawks Optimization Algorithm (DHHO) and Encoder Modeling","display_name":"Optimizing the Steering of Driverless Personal Mobility Pods with a Novel Differential Harris Hawks Optimization Algorithm (DHHO) and Encoder Modeling","publication_year":2024,"publication_date":"2024-07-17","ids":{"openalex":"https://openalex.org/W4400722408","doi":"https://doi.org/10.3390/s24144650","pmid":"https://pubmed.ncbi.nlm.nih.gov/39066048"},"language":"en","primary_location":{"id":"doi:10.3390/s24144650","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24144650","pdf_url":"https://www.mdpi.com/1424-8220/24/14/4650/pdf?version=1721378749","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/1424-8220/24/14/4650/pdf?version=1721378749","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008168853","display_name":"Mohamed Reda","orcid":"https://orcid.org/0000-0002-6865-1315"},"institutions":[{"id":"https://openalex.org/I159247623","display_name":"Mansoura University","ror":"https://ror.org/01k8vtd75","country_code":"EG","type":"education","lineage":["https://openalex.org/I159247623"]},{"id":"https://openalex.org/I185852735","display_name":"University of Lancashire","ror":"https://ror.org/010jbqd54","country_code":"GB","type":"education","lineage":["https://openalex.org/I185852735"]}],"countries":["EG","GB"],"is_corresponding":true,"raw_author_name":"Mohamed Reda","raw_affiliation_strings":["Computers and Control Systems Engineering Department, Faculty of Engineering, Mansoura University, Mansoura 35516, Egypt","School of Engineering, University of Central Lancashire, Preston PR1 2HE, UK"],"raw_orcid":"https://orcid.org/0000-0002-6865-1315","affiliations":[{"raw_affiliation_string":"Computers and Control Systems Engineering Department, Faculty of Engineering, Mansoura University, Mansoura 35516, Egypt","institution_ids":["https://openalex.org/I159247623"]},{"raw_affiliation_string":"School of Engineering, University of Central Lancashire, Preston PR1 2HE, UK","institution_ids":["https://openalex.org/I185852735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073772801","display_name":"Ahmed Onsy","orcid":"https://orcid.org/0000-0003-0803-5374"},"institutions":[{"id":"https://openalex.org/I185852735","display_name":"University of Lancashire","ror":"https://ror.org/010jbqd54","country_code":"GB","type":"education","lineage":["https://openalex.org/I185852735"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ahmed Onsy","raw_affiliation_strings":["School of Engineering, University of Central Lancashire, Preston PR1 2HE, UK"],"raw_orcid":"https://orcid.org/0000-0003-0803-5374","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Central Lancashire, Preston PR1 2HE, UK","institution_ids":["https://openalex.org/I185852735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052005274","display_name":"Amira Y. Haikal","orcid":null},"institutions":[{"id":"https://openalex.org/I159247623","display_name":"Mansoura University","ror":"https://ror.org/01k8vtd75","country_code":"EG","type":"education","lineage":["https://openalex.org/I159247623"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Amira Y. Haikal","raw_affiliation_strings":["Computers and Control Systems Engineering Department, Faculty of Engineering, Mansoura University, Mansoura 35516, Egypt"],"raw_orcid":"https://orcid.org/0000-0002-3097-8814","affiliations":[{"raw_affiliation_string":"Computers and Control Systems Engineering Department, Faculty of Engineering, Mansoura University, Mansoura 35516, Egypt","institution_ids":["https://openalex.org/I159247623"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047930175","display_name":"Ali Ghanbari","orcid":"https://orcid.org/0000-0003-1087-8426"},"institutions":[{"id":"https://openalex.org/I185852735","display_name":"University of Lancashire","ror":"https://ror.org/010jbqd54","country_code":"GB","type":"education","lineage":["https://openalex.org/I185852735"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Ali Ghanbari","raw_affiliation_strings":["School of Engineering, University of Central Lancashire, Preston PR1 2HE, UK"],"raw_orcid":"https://orcid.org/0000-0003-1087-8426","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Central Lancashire, Preston PR1 2HE, UK","institution_ids":["https://openalex.org/I185852735"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008168853","https://openalex.org/A5047930175"],"corresponding_institution_ids":["https://openalex.org/I159247623","https://openalex.org/I185852735"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.1399,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.76521295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"24","issue":"14","first_page":"4650","last_page":"4650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9975000023841858,"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"}},"topics":[{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9975000023841858,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9973000288009644,"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/T10524","display_name":"Traffic control and management","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6690861582756042},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5851523280143738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5112671852111816},{"id":"https://openalex.org/keywords/optimization-algorithm","display_name":"Optimization algorithm","score":0.4402102828025818},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4125809967517853},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37950730323791504},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3320836126804352},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27957451343536377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19703948497772217},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18176403641700745},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12130087614059448}],"concepts":[{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6690861582756042},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5851523280143738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5112671852111816},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.4402102828025818},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4125809967517853},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37950730323791504},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3320836126804352},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27957451343536377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19703948497772217},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18176403641700745},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12130087614059448},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s24144650","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24144650","pdf_url":"https://www.mdpi.com/1424-8220/24/14/4650/pdf?version=1721378749","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:39066048","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39066048","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:clok.uclan.ac.uk:52283","is_oa":true,"landing_page_url":"http://orcid.org/0000-0002-6865-1315>,","pdf_url":"https://clok.uclan.ac.uk/52283/1/52283%20Reda%20et%20al.%20VOR.pdf","source":{"id":"https://openalex.org/S4306402361","display_name":"CLOK (University of Central Lancashire)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I185852735","host_organization_name":"University of Lancashire","host_organization_lineage":["https://openalex.org/I185852735"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:pubmedcentral.nih.gov:11281304","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11281304","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"},{"id":"pmh:oai:doaj.org/article:ca83521efbe2428f9eb917dce84384bf","is_oa":false,"landing_page_url":"https://doaj.org/article/ca83521efbe2428f9eb917dce84384bf","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 14, p 4650 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24144650","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24144650","pdf_url":"https://www.mdpi.com/1424-8220/24/14/4650/pdf?version=1721378749","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400722408.pdf","grobid_xml":"https://content.openalex.org/works/W4400722408.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W1569051833","https://openalex.org/W2018189895","https://openalex.org/W2040279665","https://openalex.org/W2112036188","https://openalex.org/W2168081761","https://openalex.org/W2534578792","https://openalex.org/W2889951799","https://openalex.org/W2912791432","https://openalex.org/W2913021695","https://openalex.org/W2919979744","https://openalex.org/W2955157870","https://openalex.org/W2964247400","https://openalex.org/W2995272922","https://openalex.org/W2995947400","https://openalex.org/W3004302160","https://openalex.org/W3015353830","https://openalex.org/W3016709622","https://openalex.org/W3039356852","https://openalex.org/W3046285926","https://openalex.org/W3046718333","https://openalex.org/W3047381334","https://openalex.org/W3082981122","https://openalex.org/W3091905465","https://openalex.org/W3092221271","https://openalex.org/W3097355558","https://openalex.org/W3097722758","https://openalex.org/W3164920208","https://openalex.org/W3204534674","https://openalex.org/W4200200082","https://openalex.org/W4200396996","https://openalex.org/W4205231907","https://openalex.org/W4224300633","https://openalex.org/W4243935461","https://openalex.org/W4283268195","https://openalex.org/W4283815321","https://openalex.org/W4293194019","https://openalex.org/W4307821212","https://openalex.org/W4308876882","https://openalex.org/W4308985308","https://openalex.org/W4313307430","https://openalex.org/W4313410625","https://openalex.org/W4313887880","https://openalex.org/W4319839449","https://openalex.org/W4324118746","https://openalex.org/W4327731635","https://openalex.org/W4388018155","https://openalex.org/W4388041863","https://openalex.org/W4388263827","https://openalex.org/W4388960657","https://openalex.org/W4390810698","https://openalex.org/W4391791425","https://openalex.org/W4392600718","https://openalex.org/W4392645988","https://openalex.org/W6793630011","https://openalex.org/W6858844113","https://openalex.org/W6885045273","https://openalex.org/W7018994221"],"related_works":["https://openalex.org/W4390516098","https://openalex.org/W2181948922","https://openalex.org/W2384362569","https://openalex.org/W2142795561","https://openalex.org/W4205302943","https://openalex.org/W2561132942","https://openalex.org/W3155418658","https://openalex.org/W4243199227","https://openalex.org/W2379948177","https://openalex.org/W2334580170"],"abstract_inverted_index":{"This":[0],"paper":[1,107],"aims":[2],"to":[3,62,95,98,138,232,255,274],"improve":[4],"the":[5,9,28,31,38,58,64,99,119,125,129,140,144,148,159,164,184,188,199,212,220,234,237,247,256,266,270,275],"steering":[6,32,35,100,120,126,145,235],"performance":[7,268],"of":[8,30,128,163,198,207,236,269],"Ackermann":[10,39,238],"personal":[11],"mobility":[12,131],"scooter":[13],"based":[14],"on":[15,118,178],"a":[16,80,204],"new":[17],"meta-heuristic":[18,67],"optimization":[19,68,76,89],"algorithm":[20,78,82,150,186,272],"named":[21],"Differential":[22],"Harris":[23,74],"Hawks":[24,75,165],"Optimization":[25],"(DHHO)":[26],"and":[27,51,66,133,171,192,209,214,262],"modeling":[29],"encoder.":[33],"The":[34,103,175,195,240],"response":[36,243,258],"in":[37,49,57,87,105,110,158,211],"mechanism":[40],"is":[41,79,151,201,225,250],"crucial":[42],"for":[43,143,227],"automated":[44],"driving":[45],"systems":[46],"(ADS),":[47],"especially":[48],"localization":[50],"path-planning":[52],"phases.":[53],"Various":[54],"methods":[55],"presented":[56],"literature":[59],"are":[60],"used":[61],"control":[63,101,233,277],"steering,":[65],"algorithms":[69,86],"have":[70],"achieved":[71],"prominent":[72],"results.":[73],"(HHO)":[77],"recent":[81],"that":[83,123,183,246],"outperforms":[84,187],"state-of-the-art":[85],"various":[88],"applications.":[90],"However,":[91],"it":[92],"has":[93],"yet":[94],"be":[96],"applied":[97,137],"application.":[102],"research":[104],"this":[106],"was":[108,136],"conducted":[109],"three":[111],"stages.":[112],"First,":[113],"practical":[114,241],"experiments":[115],"were":[116],"performed":[117],"encoder":[121],"sensor":[122],"measures":[124],"angle":[127],"Landlex":[130],"scooter,":[132],"supervised":[134],"learning":[135],"model":[139],"results":[141,177,244],"obtained":[142],"control.":[146],"Second,":[147],"DHHO":[149,185,200,224,271],"proposed":[152],"by":[153,252],"introducing":[154],"mutation":[155],"between":[156],"hawks":[157],"exploration":[160],"phase":[161],"instead":[162],"perch":[166],"technique,":[167],"improving":[168],"population":[169],"diversity":[170],"reducing":[172],"premature":[173],"convergence.":[174],"simulation":[176],"CEC2021":[179],"benchmark":[180],"functions":[181],"showed":[182,245],"HHO,":[189],"PSO,":[190],"BAS,":[191],"CMAES":[193],"algorithms.":[194],"mean":[196],"error":[197],"improved":[202,251],"with":[203,219,259],"confidence":[205],"level":[206],"99.8047%":[208],"91.6016%":[210],"10-dimension":[213],"20-dimension":[215],"problems,":[216],"respectively,":[217],"compared":[218,254,273],"original":[221,257],"HHO.":[222],"Third,":[223],"implemented":[226],"interactive":[228],"real-time":[229],"PID":[230],"tuning":[231],"scooter.":[239],"transient":[242],"settling":[248],"time":[249],"89.31%":[253],"no":[260],"overshoot":[261],"steady-state":[263],"error,":[264],"proving":[265],"superior":[267],"traditional":[276],"methods.":[278]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}