{"id":"https://openalex.org/W3145947205","doi":"https://doi.org/10.3906/elk-2003-12","title":"A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots","display_name":"A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots","publication_year":2020,"publication_date":"2020-08-11","ids":{"openalex":"https://openalex.org/W3145947205","doi":"https://doi.org/10.3906/elk-2003-12","mag":"3145947205"},"language":"en","primary_location":{"id":"doi:10.3906/elk-2003-12","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-2003-12","pdf_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1137&context=elektrik","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING &amp; COMPUTER SCIENCES","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1137&context=elektrik","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5096798652","display_name":"Abdulrahman ALHALABI","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abdulrahman ALHALABI","raw_affiliation_strings":["Mechatronics Engineering , of Engineering and , , ,"],"affiliations":[{"raw_affiliation_string":"Mechatronics Engineering , of Engineering and , , ,","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078700625","display_name":"Mert EZ\u0130M","orcid":"https://orcid.org/0000-0003-2325-7127"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mert EZIM","raw_affiliation_strings":["and Control"],"affiliations":[{"raw_affiliation_string":"and Control","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070139447","display_name":"K. Oguz Canbek","orcid":"https://orcid.org/0000-0003-3917-6444"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kansu Oguz CANBEK","raw_affiliation_strings":["Mechatronics Engineering , of Engineering and , , ,"],"affiliations":[{"raw_affiliation_string":"Mechatronics Engineering , of Engineering and , , ,","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056962280","display_name":"Eray A. Baran","orcid":"https://orcid.org/0000-0002-6300-061X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Eray A. BARAN","raw_affiliation_strings":["Mechatronics Engineering , of Engineering and , , ,"],"affiliations":[{"raw_affiliation_string":"Mechatronics Engineering , of Engineering and , , ,","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056962280"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1484,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50727723,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"29","issue":"2","first_page":"704","last_page":"716"},"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":0.9968000054359436,"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":0.9968000054359436,"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":0.9846000075340271,"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"}},{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9782999753952026,"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/control-theory","display_name":"Control theory (sociology)","score":0.6580222845077515},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6071780920028687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5535184741020203},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5466930270195007},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.47865140438079834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44854986667633057},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.44548290967941284},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4327136278152466},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.43042320013046265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4267459213733673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24939119815826416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10784003138542175}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6580222845077515},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6071780920028687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5535184741020203},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5466930270195007},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.47865140438079834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44854986667633057},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.44548290967941284},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4327136278152466},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.43042320013046265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4267459213733673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24939119815826416},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10784003138542175},{"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3906/elk-2003-12","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-2003-12","pdf_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1137&context=elektrik","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING &amp; COMPUTER SCIENCES","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3906/elk-2003-12","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-2003-12","pdf_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1137&context=elektrik","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING &amp; COMPUTER SCIENCES","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6000000238418579,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3145947205.pdf","grobid_xml":"https://content.openalex.org/works/W3145947205.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W121518068","https://openalex.org/W147607487","https://openalex.org/W1569177140","https://openalex.org/W1976696068","https://openalex.org/W1979912425","https://openalex.org/W2011533586","https://openalex.org/W2014520440","https://openalex.org/W2050647053","https://openalex.org/W2095972484","https://openalex.org/W2096323098","https://openalex.org/W2096740145","https://openalex.org/W2109792914","https://openalex.org/W2114544290","https://openalex.org/W2148694916","https://openalex.org/W2217697739","https://openalex.org/W2299351796","https://openalex.org/W2505045886","https://openalex.org/W2526284878","https://openalex.org/W2558485687","https://openalex.org/W2563057509","https://openalex.org/W2751539606","https://openalex.org/W2770496819","https://openalex.org/W2775423207","https://openalex.org/W2886867313","https://openalex.org/W2923311200","https://openalex.org/W2988590957","https://openalex.org/W4234255432","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2005425232","https://openalex.org/W1963824279","https://openalex.org/W1985967178","https://openalex.org/W2907969965","https://openalex.org/W1991119341","https://openalex.org/W2009415674","https://openalex.org/W3098195390","https://openalex.org/W3140369601","https://openalex.org/W2997714847","https://openalex.org/W2125363383"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"a":[3,12,62,109,123,130],"multiple":[4],"sensor":[5,82],"fusion":[6,83],"based":[7],"drift":[8,51,78,157],"compensation":[9,98],"technique":[10],"for":[11],"mecanum":[13,159],"wheeledmobile":[14],"robot":[15,19,94],"platform.":[16],"The":[17,35,56,76,103],"mobile":[18],"is":[20,60,68,84,106],"equipped":[21],"with":[22,120],"high-precision":[23],"encoders":[24,43],"integrated":[25],"to":[26,47,88,128],"the":[27,39,42,49,53,71,81,89,93,100,115,142,145,149,155],"wheels":[28],"and":[29,44],"fouraccelerometers":[30],"placed":[31],"on":[32,108],"its":[33],"chassis.":[34],"proposed":[36,104,150],"algorithm":[37,105],"combines":[38],"information":[40],"from":[41,80],"theacceleration":[45],"sensors":[46],"estimate":[48],"total":[50],"in":[52,126,141,153],"acceleration":[54,64,79],"dimension.":[55],"inner":[57],"loop":[58],"controller":[59],"designedutilizing":[61],"disturbance-observer-based":[63],"control":[65,151],"structure":[66],"which":[67],"blind":[69],"against":[70],"slipping":[72],"motion":[73],"of":[74,92,111,114,122,148,158],"thewheels.":[75],"estimated":[77],"then":[85],"mapped":[86],"back":[87],"joint":[90],"space":[91],"andused":[95],"as":[96],"additional":[97],"over":[99],"existing":[101],"controllers.":[102],"tested":[107],"series":[110],"experiments.The":[112],"results":[113],"experiments":[116,143],"are":[117],"also":[118],"compared":[119],"those":[121],"recent":[124],"study":[125],"order":[127],"provide":[129],"benchmark":[131],"evaluation.The":[132],"enhanced":[133],"tracking":[134],"performance":[135],"yielding":[136],"towards":[137],"smaller":[138],"error":[139],"magnitudes":[140],"illustrate":[144],"efficacyand":[146],"success":[147],"architecture":[152],"attenuating":[154],"positioning":[156],"wheeled":[160],"robots.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
