{"id":"https://openalex.org/W2168188828","doi":"https://doi.org/10.1109/70.928568","title":"Steering kinematics for a center-articulated mobile robot","display_name":"Steering kinematics for a center-articulated mobile robot","publication_year":2001,"publication_date":"2001-04-01","ids":{"openalex":"https://openalex.org/W2168188828","doi":"https://doi.org/10.1109/70.928568","mag":"2168188828"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/70.928568","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/21740/1/corke_00928568.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080187476","display_name":"Peter Corke","orcid":"https://orcid.org/0000-0001-6650-367X"},"institutions":[{"id":"https://openalex.org/I4210154771","display_name":"CSIRO Manufacturing","ror":"https://ror.org/04sx9wp33","country_code":"AU","type":"facility","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4210154771","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"P.I. Corke","raw_affiliation_strings":["CSIRO Manufacturing Science and Technology, Kenmore, Australia"],"affiliations":[{"raw_affiliation_string":"CSIRO Manufacturing Science and Technology, Kenmore, Australia","institution_ids":["https://openalex.org/I4210154771"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030630214","display_name":"Peter Ridley","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"P. Ridley","raw_affiliation_strings":["School of Mechanical Engineering, Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.521,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":37,"citation_normalized_percentile":{"value":0.97766,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":91},"biblio":{"volume":"17","issue":"2","first_page":"215","last_page":"218"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control of Nonholonomic Mobile Robots","score":1.0,"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 of Nonholonomic Mobile Robots","score":1.0,"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":"Sampling-Based Motion Planning Algorithms","score":0.9995,"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/T10805","display_name":"Advanced Vehicle Dynamics Control Systems","score":0.9991,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.6923585},{"id":"https://openalex.org/keywords/active-steering","display_name":"Active Steering","score":0.543995},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding Mode Control","score":0.517641}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8155689},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7898283},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7026586},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6923585},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5873455},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4825127},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43873823},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40455592},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39800718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39470643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35404736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28485996},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20036277},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15611875},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11804816},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/70.928568","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://eprints.qut.edu.au/21740/1/corke_00928568.pdf","pdf_url":"https://eprints.qut.edu.au/21740/1/corke_00928568.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":["Queensland University of Technology"],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://eprints.qut.edu.au/21740/1/corke_00928568.pdf","pdf_url":"https://eprints.qut.edu.au/21740/1/corke_00928568.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":["Queensland University of Technology"],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":9,"referenced_works":["https://openalex.org/W1523323321","https://openalex.org/W1870903414","https://openalex.org/W2053394966","https://openalex.org/W2078528205","https://openalex.org/W2097676209","https://openalex.org/W2140549065","https://openalex.org/W2141049965","https://openalex.org/W2158052518","https://openalex.org/W2164148538"],"related_works":["https://openalex.org/W4312096302","https://openalex.org/W3044940660","https://openalex.org/W2972304526","https://openalex.org/W2119963650","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2059363081","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2005471069"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,18,71],"steering":[4,36],"kinematics":[5],"for":[6],"a":[7,42,46,57],"center-articulated":[8],"mobile":[9,59],"robot.":[10],"Several":[11],"models":[12],"have":[13],"been":[14],"recently":[15],"proposed":[16],"in":[17],"literature":[19],"and":[20,27,49,76],"we":[21],"use":[22],"experimental":[23],"data":[24],"to":[25,35,40,69],"compare":[26],"validate":[28],"these":[29],"models.":[30],"The":[31],"vehicle":[32,60],"heading":[33,81],"response":[34],"command":[37],"is":[38,51],"shown":[39],"include":[41],"dominant":[43],"zero":[44,75],"due":[45],"nonholonomic":[47],"constraint,":[48],"this":[50,74],"verified":[52],"by":[53],"experiments":[54],"conducted":[55],"using":[56],"30-t":[58],"at":[61],"our":[62],"laboratory.":[63],"Simulation":[64],"results":[65],"are":[66],"then":[67],"used":[68],"show":[70],"significance":[72],"of":[73],"its":[77],"effect":[78],"on":[79],"closed-loop":[80],"angle":[82],"control.":[83]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2168188828","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2024-11-29T04:41:23.016316","created_date":"2016-06-24"}
