{"id":"https://openalex.org/W2986871623","doi":"https://doi.org/10.3390/sym11111372","title":"Energy Modeling and Experimental Validation of Four-Wheel Mecanum Mobile Robots for Energy-Optimal Motion Control","display_name":"Energy Modeling and Experimental Validation of Four-Wheel Mecanum Mobile Robots for Energy-Optimal Motion Control","publication_year":2019,"publication_date":"2019-11-05","ids":{"openalex":"https://openalex.org/W2986871623","doi":"https://doi.org/10.3390/sym11111372","mag":"2986871623"},"language":"en","primary_location":{"id":"doi:10.3390/sym11111372","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym11111372","pdf_url":"https://www.mdpi.com/2073-8994/11/11/1372/pdf?version=1572948944","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/11/11/1372/pdf?version=1572948944","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":false,"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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025427356","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0002-7801-2728"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwon Kim","raw_affiliation_strings":["Department of Electromechanical Convergence Engineering, Korea University of Technology and Education, Cheonan 31253, Korea"],"raw_orcid":"https://orcid.org/0000-0002-7801-2728","affiliations":[{"raw_affiliation_string":"Department of Electromechanical Convergence Engineering, Korea University of Technology and Education, Cheonan 31253, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040317059","display_name":"Jie Sun","orcid":"https://orcid.org/0000-0002-6855-9076"},"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":"Jie Sun","raw_affiliation_strings":["School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai 264209, China"],"raw_orcid":null,"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":2,"corresponding_author_ids":["https://openalex.org/A5040317059"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2227},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2227},"fwci":0.6821,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.71636627,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"11","issue":"11","first_page":"1372","last_page":"1372"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"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/mobile-robot","display_name":"Mobile robot","score":0.7318393588066101},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6911935210227966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.673782467842102},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6435863971710205},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5179056525230408},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5073553919792175},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5018830299377441},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.48990482091903687},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4350326657295227},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4214820861816406},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.41606128215789795},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3313688337802887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21833083033561707},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20018866658210754},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06146109104156494},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.05566403269767761}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7318393588066101},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6911935210227966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.673782467842102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6435863971710205},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5179056525230408},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5073553919792175},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5018830299377441},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.48990482091903687},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4350326657295227},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4214820861816406},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.41606128215789795},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3313688337802887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21833083033561707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20018866658210754},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06146109104156494},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.05566403269767761},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/sym11111372","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym11111372","pdf_url":"https://www.mdpi.com/2073-8994/11/11/1372/pdf?version=1572948944","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:601eade620aa4b4cb80233dddd79600b","is_oa":true,"landing_page_url":"https://doaj.org/article/601eade620aa4b4cb80233dddd79600b","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":"Symmetry, Vol 11, Iss 11, p 1372 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2073-8994/11/11/1372/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/sym11111372","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":"Symmetry","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/sym11111372","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym11111372","pdf_url":"https://www.mdpi.com/2073-8994/11/11/1372/pdf?version=1572948944","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G429859446","display_name":null,"funder_award_id":"11803017, 41904158, 41774180","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5004363326","display_name":null,"funder_award_id":"2019M652385","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2986871623.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1858122523","https://openalex.org/W1979425065","https://openalex.org/W1985268144","https://openalex.org/W2091231427","https://openalex.org/W2109127419","https://openalex.org/W2119866059","https://openalex.org/W2132473243","https://openalex.org/W2133495469","https://openalex.org/W2137575531","https://openalex.org/W2182672326","https://openalex.org/W2288397920","https://openalex.org/W2290965037","https://openalex.org/W2300756811","https://openalex.org/W2429236484","https://openalex.org/W2534881522","https://openalex.org/W2541801666","https://openalex.org/W2562616630","https://openalex.org/W2737488385","https://openalex.org/W2751539606","https://openalex.org/W2766878106","https://openalex.org/W2782840524","https://openalex.org/W2792887144","https://openalex.org/W2891098510","https://openalex.org/W2905683736","https://openalex.org/W2966368355","https://openalex.org/W6676005675","https://openalex.org/W6747868554"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"Four-wheel":[0],"Mecanum":[1,117],"mobile":[2],"robots":[3],"(FWMRs)":[4],"are":[5,71],"widely":[6],"used":[7],"in":[8,110],"transportation":[9],"because":[10],"of":[11,30,46,54,67,93,123],"their":[12,75,80],"omnidirectional":[13,44],"mobility.":[14],"However,":[15,69],"the":[16,27,31,43,59,94,101,124],"FWMR":[17],"trades":[18],"off":[19],"energy":[20,28,81,105],"efficiency":[21],"for":[22,42,57],"flexibility.":[23],"To":[24],"efficiently":[25],"predict":[26],"consumption":[29,40,51,92],"robot":[32,95],"movement":[33,45],"processes,":[34],"this":[35],"paper":[36],"proposes":[37],"a":[38],"power":[39,50,60,91],"model":[41,52,106,125],"an":[47],"FWMR.":[48],"A":[49],"is":[53,77,83],"great":[55],"significance":[56],"reducing":[58],"consumption,":[61],"motion":[62],"control,":[63],"and":[64,79,90,112,131],"path":[65],"planning":[66],"robots.":[68],"FWMRs":[70],"highly":[72],"maneuverable,":[73],"meaning":[74],"control":[76,102],"complicated":[78],"modeling":[82],"extremely":[84],"complex.":[85],"The":[86,120],"speed,":[87],"distance,":[88],"path,":[89],"can":[96],"vary":[97],"greatly":[98],"depending":[99],"on":[100],"method.":[103],"This":[104],"was":[107,126],"mathematically":[108],"implemented":[109],"MATLAB":[111],"validated":[113],"by":[114],"our":[115],"laboratory\u2019s":[116],"wheel":[118],"robot.":[119],"prediction":[121],"accuracy":[122],"over":[127],"95%":[128],"through":[129],"simulation":[130],"experimental":[132],"verification.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
