{"id":"https://openalex.org/W2161045666","doi":"https://doi.org/10.1109/robio.2009.5420407","title":"An efficient path planning algorithm for mobile robot using improved potential field","display_name":"An efficient path planning algorithm for mobile robot using improved potential field","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2161045666","doi":"https://doi.org/10.1109/robio.2009.5420407","mag":"2161045666"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420407","doi":"https://doi.org/10.1109/robio.2009.5420407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420407","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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":null,"display_name":"Pu Shi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pu Shi","raw_affiliation_strings":["Department of Automation Engineering, Northeastern University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation Engineering, Northeastern University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101971483","display_name":"Yiwen Zhao","orcid":"https://orcid.org/0000-0002-3853-7458","observed_orcids":["https://orcid.org/0000-0002-3853-7458","https://orcid.org/0009-0007-1853-3461"]},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics SIA, Chinese Academy and Sciences, Shenyang, Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics SIA, Chinese Academy and Sciences, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9539,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.6508511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1704","last_page":"1708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","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/T10586","display_name":"Robotic Path Planning Algorithms","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot-path-planning","display_name":"mobile robot path planning","score":0.9660000205039978},{"id":"https://openalex.org/keywords/artificial-potential-field","display_name":"artificial potential field","score":0.8460000157356262},{"id":"https://openalex.org/keywords/local-minima","display_name":"local minima","score":0.7300000190734863},{"id":"https://openalex.org/keywords/repulsive-potential-function","display_name":"repulsive potential function","score":1.0},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.9240000247955322},{"id":"https://openalex.org/keywords/global-minimum","display_name":"global minimum","score":0.5440000295639038}],"concepts":[{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.8553670644760132},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8220082521438599},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8043322563171387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6368933916091919},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.6267486214637756},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5955772995948792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5668928027153015},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5218652486801147},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4933291971683502},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4587985873222351},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3740057945251465},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37075275182724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3479950428009033},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20753872394561768},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07723772525787354},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2009.5420407","doi":"https://doi.org/10.1109/robio.2009.5420407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420407","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:ir.sia.cn/:173321/10460","doi":null,"is_oa":false,"landing_page_url":"http://ir.sia.cn/handle/173321/10460","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Shi P,Zhao YW. An efficient path planning algorithm for mobile robot using improved potential field[C]. 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. Guilin, China. December 19-23, 2009.An efficient path planning algorithm for mobile robot using improved potential field.","raw_type":"\u4f1a\u8bae\u8bba\u6587"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W38723175","https://openalex.org/W1498792794","https://openalex.org/W1566252758","https://openalex.org/W1598646259","https://openalex.org/W1608481154","https://openalex.org/W1822858039","https://openalex.org/W1914152251","https://openalex.org/W1968185596","https://openalex.org/W2031424614","https://openalex.org/W2051617934","https://openalex.org/W2099425078","https://openalex.org/W2103120971","https://openalex.org/W2120160155","https://openalex.org/W2130647945","https://openalex.org/W2131286638","https://openalex.org/W2133361850","https://openalex.org/W2135946747","https://openalex.org/W2145076589","https://openalex.org/W2146872980","https://openalex.org/W2148168602","https://openalex.org/W2349697846","https://openalex.org/W4251794413","https://openalex.org/W6633979065","https://openalex.org/W6640034787","https://openalex.org/W6681751079"],"related_works":["https://openalex.org/W2113215234","https://openalex.org/W2380589042","https://openalex.org/W2404353537","https://openalex.org/W2359669061","https://openalex.org/W2604181655","https://openalex.org/W2359776760","https://openalex.org/W2392999217","https://openalex.org/W4387423561","https://openalex.org/W4403342675","https://openalex.org/W4386960956"],"abstract_inverted_index":{"Traditional":[0],"APF-based":[1],"mobile":[2],"robot":[3,21,69,84],"path":[4],"planning":[5],"approaches":[6],"posses":[7],"an":[8,32,47,53],"inherent":[9],"problem":[10],"which":[11],"is":[12,37,93],"the":[13,25,65,73,80,86,91,96,107,110,113],"formation":[14],"of":[15,29,112],"local":[16],"minimum":[17,66,98],"that":[18],"probably":[19],"prevent":[20],"from":[22],"arriving":[23],"at":[24],"target.":[26,87],"In":[27],"view":[28],"those":[30],"considerations,":[31],"improved":[33,48,54,114],"potential":[34,50,56,60,75],"field":[35],"function":[36,51,61,76],"proposed":[38],"to":[39],"settle":[40],"this":[41],"problem.":[42],"The":[43,58],"new":[44],"method":[45],"includes":[46],"attractive":[49,59],"and":[52,70,85,106],"repulsive":[55,74],"function.":[57],"takes":[62,77],"into":[63,78],"account":[64,79],"separation":[67],"between":[68,83],"obstacles,":[71],"while":[72],"relative":[81],"position":[82],"As":[88],"a":[89],"result,":[90],"target":[92],"ensured":[94],"as":[95],"global":[97],"in":[99],"working":[100],"space.":[101],"Simulation":[102],"experiments":[103],"are":[104],"performed":[105],"results":[108],"demonstrate":[109],"effectiveness":[111],"method.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
