<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1405-5546</journal-id>
<journal-title><![CDATA[Computación y Sistemas]]></journal-title>
<abbrev-journal-title><![CDATA[Comp. y Sist.]]></abbrev-journal-title>
<issn>1405-5546</issn>
<publisher>
<publisher-name><![CDATA[Instituto Politécnico Nacional, Centro de Investigación en Computación]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1405-55462025000100191</article-id>
<article-id pub-id-type="doi">10.13053/cys-29-1-5513</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Position and Orientation Control on Three-step by a State Machine for an Omnidirectional Mobile Robot]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Cortés-Antonio]]></surname>
<given-names><![CDATA[Prometeo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Valdez]]></surname>
<given-names><![CDATA[Fevrier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Melin]]></surname>
<given-names><![CDATA[Patricia]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Castillo]]></surname>
<given-names><![CDATA[Óscar]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Tecnológico Nacional de México  ]]></institution>
<addr-line><![CDATA[Tijuana ]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>03</month>
<year>2025</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>03</month>
<year>2025</year>
</pub-date>
<volume>29</volume>
<numero>1</numero>
<fpage>191</fpage>
<lpage>199</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S1405-55462025000100191&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S1405-55462025000100191&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S1405-55462025000100191&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract: In the position and orientation control (pose) of a mobile robot, a trajectory is created, and the robot starts from its initial position and ends in a desired position and orientation. Most state-of-the-art solutions employ control laws based on classic Proportional-Integral-Derivative controllers and/or variants, fuzzy controllers, etc., which generate trajectories that can describe sharp curves or undesirable behaviors (for example, going backward). These curves are drastically dependent on whether the desired orientation is in front of the robot's initial pose. Therefore, a three-step control strategy for pose control of a mobile robot is presented. The first task is an orientation control which drives the robot to the desired position, followed by a position control (which can be performed over a single direction), and finally, another orientation control that drives the robot to the desired orientation.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Control pose]]></kwd>
<kwd lng="en"><![CDATA[position and orientation control]]></kwd>
<kwd lng="en"><![CDATA[state machine]]></kwd>
<kwd lng="en"><![CDATA[omnidirectional robot]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Kebede]]></surname>
<given-names><![CDATA[G.A.]]></given-names>
</name>
<name>
<surname><![CDATA[Gelaw]]></surname>
<given-names><![CDATA[A.A.]]></given-names>
</name>
<name>
<surname><![CDATA[Andualem]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<name>
<surname><![CDATA[Hailu]]></surname>
<given-names><![CDATA[A.T.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Review of the characteristics of mobile robots for health care application]]></article-title>
<source><![CDATA[International Journal of Intelligent Robotics and Applications]]></source>
<year>2024</year>
<page-range>1-23</page-range></nlm-citation>
</ref>
<ref id="B2">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Rubio]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Valero]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Llopis-Albert]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[A review of mobile robots: Concepts, methods, theoretical framework, and applications]]></article-title>
<source><![CDATA[International Journal of Advanced Robotic Systems]]></source>
<year>2019</year>
<volume>16</volume>
<numero>2</numero>
<issue>2</issue>
</nlm-citation>
</ref>
<ref id="B3">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Hong]]></surname>
<given-names><![CDATA[T.S.]]></given-names>
</name>
<name>
<surname><![CDATA[Nakhaeinia]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
<name>
<surname><![CDATA[Karasfi]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Application of fuzzy logic in mobile robot navigation]]></article-title>
<source><![CDATA[Fuzzy Logic-Controls, Concepts, Theories and Applications]]></source>
<year>2012</year>
<page-range>21-36</page-range></nlm-citation>
</ref>
<ref id="B4">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Sousa]]></surname>
<given-names><![CDATA[R.B.]]></given-names>
</name>
<name>
<surname><![CDATA[Costa]]></surname>
<given-names><![CDATA[P.G.]]></given-names>
</name>
<name>
<surname><![CDATA[Moreira]]></surname>
<given-names><![CDATA[A.P.]]></given-names>
</name>
</person-group>
<source><![CDATA[A pose control algorithm for omnidirectional robots]]></source>
<year>2021</year>
<conf-name><![CDATA[ International Conference on Autonomous Robot Systems and Competitions (ICARSC)]]></conf-name>
<conf-loc> </conf-loc>
<page-range>91-6</page-range></nlm-citation>
</ref>
<ref id="B5">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Figueroa-Saire]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Patiño-Escarcina]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
</person-group>
<source><![CDATA[Position control of an omnidirectional robot through visual servoing]]></source>
<year>2021</year>
<conf-name><![CDATA[ Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)]]></conf-name>
<conf-loc> </conf-loc>
<page-range>258-63</page-range></nlm-citation>
</ref>
<ref id="B6">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Luo]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
<name>
<surname><![CDATA[Schauer]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Roth]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Raisch]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Position and orientation control of an omni-directional mobile rehabilitation robot]]></source>
<year>2012</year>
<conf-name><![CDATA[ International Conference on Control Applications]]></conf-name>
<conf-loc> </conf-loc>
<page-range>50-6</page-range></nlm-citation>
</ref>
<ref id="B7">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Varlamov]]></surname>
<given-names><![CDATA[O.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Brains for robots: Application of the Mivar expert systems for implementation of autonomous intelligent robots]]></article-title>
<source><![CDATA[Big Data Research]]></source>
<year>2021</year>
<volume>25</volume>
</nlm-citation>
</ref>
<ref id="B8">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Rana]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
<name>
<surname><![CDATA[Talbot]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Dasagi]]></surname>
<given-names><![CDATA[V.]]></given-names>
</name>
<name>
<surname><![CDATA[Milford]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Sünderhauf]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
</person-group>
<source><![CDATA[Residual reactive navigation: Combining classical and learned navigation strategies for deployment in unknown environments]]></source>
<year>2020</year>
<conf-name><![CDATA[ International Conference on Robotics and Automation]]></conf-name>
<conf-loc> </conf-loc>
<page-range>11493-9</page-range></nlm-citation>
</ref>
<ref id="B9">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Cuevas]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Castillo]]></surname>
<given-names><![CDATA[O.]]></given-names>
</name>
<name>
<surname><![CDATA[Cortes]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Optimal setting of membership functions for interval type-2 fuzzy tracking controllers using a shark smell metaheuristic algorithm]]></article-title>
<source><![CDATA[International Journal of Fuzzy Systems]]></source>
<year>2022</year>
<volume>24</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>799-822</page-range></nlm-citation>
</ref>
<ref id="B10">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Wang]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
<name>
<surname><![CDATA[Tan]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
<name>
<surname><![CDATA[Liu]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Particle swarm optimization algorithm: An overview]]></article-title>
<source><![CDATA[Soft computing]]></source>
<year>2018</year>
<volume>22</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>387-408</page-range></nlm-citation>
</ref>
<ref id="B11">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ma]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Wang]]></surname>
<given-names><![CDATA[Z.]]></given-names>
</name>
<name>
<surname><![CDATA[Yang]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<name>
<surname><![CDATA[Yang]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Artificial intelligence applications in the development of autonomous vehicles: A survey]]></article-title>
<source><![CDATA[IEEE/CAA Journal of Automatica Sinica]]></source>
<year>2020</year>
<volume>7</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>315-29</page-range></nlm-citation>
</ref>
<ref id="B12">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Kunze]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Hawes]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
<name>
<surname><![CDATA[Duckett]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Hanheide]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Krajník]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Artificial intelligence for long-term robot autonomy: A survey]]></article-title>
<source><![CDATA[IEEE Robotics and Automation Letters]]></source>
<year>2018</year>
<volume>3</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>4023-30</page-range></nlm-citation>
</ref>
<ref id="B13">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lynch]]></surname>
<given-names><![CDATA[K.M.]]></given-names>
</name>
<name>
<surname><![CDATA[Park]]></surname>
<given-names><![CDATA[F.C.]]></given-names>
</name>
</person-group>
<source><![CDATA[Modern robotics]]></source>
<year>2017</year>
<publisher-name><![CDATA[Cambridge University Press]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B14">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Castillo]]></surname>
<given-names><![CDATA[O.]]></given-names>
</name>
<name>
<surname><![CDATA[Cortés-Antonio]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Melin]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Valdez]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Type-2 fuzzy control for line following using line detection images]]></article-title>
<source><![CDATA[Journal of Intelligent &amp; Fuzzy Systems]]></source>
<year>2020</year>
<volume>39</volume>
<numero>5</numero>
<issue>5</issue>
<page-range>6089-97</page-range></nlm-citation>
</ref>
<ref id="B15">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[González-Aguilar]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Castillo]]></surname>
<given-names><![CDATA[O.]]></given-names>
</name>
<name>
<surname><![CDATA[Cortés-Antonio]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Implementation a fuzzy system for trajectory tracking of an omnidirectional mobile autonomous robot]]></article-title>
<source><![CDATA[Hybrid Intelligent Systems in Control, Pattern Recognition and Medicine]]></source>
<year>2019</year>
<volume>827</volume>
<page-range>327-40</page-range><publisher-loc><![CDATA[Cham ]]></publisher-loc>
<publisher-name><![CDATA[Springer International Publishing]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B16">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Tzafestas]]></surname>
<given-names><![CDATA[S.G.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Mobile robot control and navigation: A global overview]]></article-title>
<source><![CDATA[Journal of Intelligent &amp; Robotic Systems]]></source>
<year>2018</year>
<volume>91</volume>
<page-range>35-58</page-range></nlm-citation>
</ref>
<ref id="B17">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Corke]]></surname>
<given-names><![CDATA[P. I.]]></given-names>
</name>
<name>
<surname><![CDATA[Jachimczyk]]></surname>
<given-names><![CDATA[W.]]></given-names>
</name>
<name>
<surname><![CDATA[Pillat]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
</person-group>
<source><![CDATA[Robotics, vision and control: fundamental algorithms in MATLAB]]></source>
<year>2011</year>
<volume>73</volume>
<publisher-name><![CDATA[Springer]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B18">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Masmoudi]]></surname>
<given-names><![CDATA[M.S.]]></given-names>
</name>
<name>
<surname><![CDATA[Krichen]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
<name>
<surname><![CDATA[Masmoudi]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Derbel]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Fuzzy logic controllers design for omnidirectional mobile robot navigation]]></article-title>
<source><![CDATA[Applied soft computing]]></source>
<year>2016</year>
<volume>49</volume>
<page-range>901-19</page-range></nlm-citation>
</ref>
</ref-list>
</back>
</article>
