{"id":"https://openalex.org/W2296152912","doi":"https://doi.org/10.5220/0005562403750380","title":"A Trajectory Tracking Control of a Skid Steered Mobile Cleaning Robot","display_name":"A Trajectory Tracking Control of a Skid Steered Mobile Cleaning Robot","publication_year":2015,"publication_date":"2015-01-01","ids":{"openalex":"https://openalex.org/W2296152912","doi":"https://doi.org/10.5220/0005562403750380","mag":"2296152912"},"language":"en","primary_location":{"id":"doi:10.5220/0005562403750380","is_oa":false,"landing_page_url":"https://doi.org/10.5220/0005562403750380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102780718","display_name":"Seungwoo Jeon","orcid":"https://orcid.org/0000-0002-8002-1228"},"institutions":[{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seungwoo Jeon Jeon","raw_affiliation_strings":["Korea University of Science and Technology, Korea, Republic of"],"affiliations":[{"raw_affiliation_string":"Korea University of Science and Technology, Korea, Republic of","institution_ids":["https://openalex.org/I88761825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060852355","display_name":"Wootae Jeong","orcid":"https://orcid.org/0000-0001-6342-8555"},"institutions":[{"id":"https://openalex.org/I4210161173","display_name":"Korea Railroad Research Institute","ror":"https://ror.org/04gzcxt97","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4210161173","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wootae Jeong","raw_affiliation_strings":["Korea Railroad Research Institute, Korea, Republic of"],"affiliations":[{"raw_affiliation_string":"Korea Railroad Research Institute, Korea, Republic of","institution_ids":["https://openalex.org/I4210161173"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038096058","display_name":"Soon-Bark Kwon","orcid":"https://orcid.org/0000-0002-8215-442X"},"institutions":[{"id":"https://openalex.org/I4210161173","display_name":"Korea Railroad Research Institute","ror":"https://ror.org/04gzcxt97","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4210161173","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Soon-Bark Kwon","raw_affiliation_strings":["Korea Railroad Research Institute, Korea, Republic of"],"affiliations":[{"raw_affiliation_string":"Korea Railroad Research Institute, Korea, Republic of","institution_ids":["https://openalex.org/I4210161173"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067547096","display_name":"Cheulkyu Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161173","display_name":"Korea Railroad Research Institute","ror":"https://ror.org/04gzcxt97","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4210161173","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Cheulkyu Lee","raw_affiliation_strings":["Korea Railroad Research Institute, Korea, Republic of"],"affiliations":[{"raw_affiliation_string":"Korea Railroad Research Institute, Korea, Republic of","institution_ids":["https://openalex.org/I4210161173"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089849908","display_name":"Duckshin Park","orcid":"https://orcid.org/0000-0002-5871-2049"},"institutions":[{"id":"https://openalex.org/I4210161173","display_name":"Korea Railroad Research Institute","ror":"https://ror.org/04gzcxt97","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4210161173","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Duckshin Park","raw_affiliation_strings":["Korea Railroad Research Institute, Korea, Republic of"],"affiliations":[{"raw_affiliation_string":"Korea Railroad Research Institute, Korea, Republic of","institution_ids":["https://openalex.org/I4210161173"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102780718"],"corresponding_institution_ids":["https://openalex.org/I88761825"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.16658653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"375","last_page":"380"},"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":0.9891999959945679,"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":0.9891999959945679,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9876999855041504,"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/T13715","display_name":"Power Line Inspection Robots","score":0.9520000219345093,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8381232023239136},{"id":"https://openalex.org/keywords/skid","display_name":"Skid (aerodynamics)","score":0.8138855695724487},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.647286057472229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5214337706565857},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5090424418449402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.499509334564209},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.35184526443481445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28839433193206787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2705995440483093},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08847039937973022},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06534412503242493}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8381232023239136},{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.8138855695724487},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.647286057472229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5214337706565857},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5090424418449402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.499509334564209},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.35184526443481445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28839433193206787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2705995440483093},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08847039937973022},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06534412503242493},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5220/0005562403750380","is_oa":false,"landing_page_url":"https://doi.org/10.5220/0005562403750380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W833875619","https://openalex.org/W3185260728","https://openalex.org/W613759904","https://openalex.org/W2903025760","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2122871747","https://openalex.org/W2157008402","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Cleaning":[0],"accumulated":[1],"dusts":[2],"inside":[3],"air":[4,17],"ventilation":[5,48],"ducts":[6],"of":[7,46,77,80,86,106,125,132],"underground":[8,22],"facilities":[9,23],"is":[10],"an":[11,68],"essential":[12],"process":[13],"to":[14,39],"improve":[15],"indoor":[16],"quality,":[18],"especially":[19],"at":[20,42],"the":[21,43,47,53,81,87,94,102,107,126,130,133],"such":[24],"as":[25],"subway":[26],"platforms.":[27],"Therefore,":[28,109],"various":[29],"autonomous":[30],"mobile":[31,58],"duct":[32],"cleaning":[33,98],"robots":[34],"have":[35],"been":[36,64],"actively":[37],"studied":[38],"be":[40],"applied":[41],"closed":[44],"space":[45],"duct.":[49],"In":[50],"this":[51,110],"paper,":[52],"four":[54],"wheeled":[55],"skid":[56,70],"steering":[57,71,104],"platform":[59,88,127],"with":[60],"rotating":[61,95],"brusharms":[62],"has":[63],"developed":[65],"and":[66,89,118,128],"proposed":[67],"effective":[69],"control":[72],"technique":[73],"under":[74],"changeable":[75],"center":[76],"mass":[78],"(CM)":[79],"platform.":[82,108],"The":[83],"shifted":[84],"CM":[85],"unstable":[90],"disturbances":[91],"acting":[92],"on":[93],"brushes":[96],"from":[97],"surfaces":[99],"can":[100],"change":[101],"dynamic":[103],"characteristics":[105],"paper":[111],"also":[112],"proposes":[113],"a":[114],"new":[115],"integrated":[116],"backstepping":[117],"I-PD":[119],"controller":[120,134],"for":[121],"stable":[122],"trajectory":[123],"tracking":[124],"proves":[129],"effects":[131],"through":[135],"simulations.":[136]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}