{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:52:51Z","timestamp":1760345571457},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2001,1,17]],"date-time":"2001-01-17T00:00:00Z","timestamp":979689600000},"content-version":"unspecified","delay-in-days":16,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2001,1]]},"abstract":"<jats:p>Near minimum-time direct voltage control (DVC) algorithms \nsynthesizing path-planning and path-following are proposed for wheeled mobile robots \n(WMRs) satisfying (i) initial and final postures and velocities as \nwell as (ii) voltage and current constraints. To overcome nonholonomic \nand nonlinear properties of WMRs, we divide our control algorithm \nfor cornering motion into three sections: TSD (Translational Section of \nDeceleration), RS (Rotational Section), and TSA (Translational Section of Acceleration). \nWe developed off-line DVC algorithms using the quadratic problem with \nthe object function minimizing the total time, where voltages to \nthe motors are controlled directly without velocity\/torque-servo modules, while satisfying the current constraints. Two methods of searching for the two \ncontrol parameters (number of steps for RS <jats:italic>M<\/jats:italic><jats:sub><jats:italic>R<\/jats:italic><\/jats:sub> and velocity \nconstraint in RS \u03b2) were considered: The one is composed \nof one simple 1-dimensional search for \u03b2, and the other \nis composed of two 1-dimensional searches for <jats:italic>M<\/jats:italic><jats:sub><jats:italic>R<\/jats:italic><\/jats:sub> and \u03b2 \nwhich has better performance. Performances of the proposed control algorithms \nare validated via various simulations.<\/jats:p>","DOI":"10.1017\/s0263574700002757","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T09:39:16Z","timestamp":1027762756000},"page":"29-39","source":"Crossref","is-referenced-by-count":16,"title":["Near minimum-time direct voltage control algorithms for wheeled mobile robots \nwith current and voltage constraints"],"prefix":"10.1017","volume":"19","author":[{"given":"Jong-Suk","family":"Choi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Byung Kook","family":"Kim","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2001,1,17]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700002757","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,7]],"date-time":"2019-04-07T14:51:01Z","timestamp":1554648661000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700002757\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2001,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2001,1]]}},"alternative-id":["S0263574700002757"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700002757","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2001,1]]}}}