{"id":"https://openalex.org/W2011461726","doi":"https://doi.org/10.1002/1097-4563(200011)17:11<585::aid-rob1>3.0.co;2-7","title":"Time optimal path planning for a wheeled mobile robot","display_name":"Time optimal path planning for a wheeled mobile robot","publication_year":2000,"publication_date":"2000-11-01","ids":{"openalex":"https://openalex.org/W2011461726","doi":"https://doi.org/10.1002/1097-4563(200011)17:11<585::aid-rob1>3.0.co;2-7","mag":"2011461726"},"language":"en","primary_location":{"id":"doi:10.1002/1097-4563(200011)17:11<585::aid-rob1>3.0.co;2-7","is_oa":false,"landing_page_url":"https://doi.org/10.1002/1097-4563(200011)17:11<585::aid-rob1>3.0.co;2-7","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-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/A5101597474","display_name":"Weiguo Wu","orcid":"https://orcid.org/0000-0003-0145-2124"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiguo Wu","raw_affiliation_strings":["Department of Electrical Engineering, Tongji University, Shanghai 200092, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tongji University, Shanghai 200092, People's Republic of China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073942420","display_name":"Huitang Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huitang Chen","raw_affiliation_strings":["Department of Electrical Engineering, Tongji University, Shanghai 200092, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tongji University, Shanghai 200092, People's Republic of China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111787606","display_name":"Peng-Yung Woo","orcid":null},"institutions":[{"id":"https://openalex.org/I102502594","display_name":"Northern Illinois University","ror":"https://ror.org/012wxa772","country_code":"US","type":"education","lineage":["https://openalex.org/I102502594"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Peng-Yung Woo","raw_affiliation_strings":["Department of Electrical Engineering, Northern Illinois University, Dekalb, Illinois 60115-2854","Department of Electrical Engineering, Northern Illinois University, Dekalb, Illinois 60115\u20102854"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Northern Illinois University, Dekalb, Illinois 60115-2854","institution_ids":["https://openalex.org/I102502594"]},{"raw_affiliation_string":"Department of Electrical Engineering, Northern Illinois University, Dekalb, Illinois 60115\u20102854","institution_ids":["https://openalex.org/I102502594"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111787606"],"corresponding_institution_ids":["https://openalex.org/I102502594"],"apc_list":null,"apc_paid":null,"fwci":1.9827,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.86016777,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"17","issue":"11","first_page":"585","last_page":"591"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9666000008583069,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/kinematics","display_name":"Kinematics","score":0.807715117931366},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7721466422080994},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.650591254234314},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.63539057970047},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5382046699523926},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5378223061561584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44837579131126404},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.41727590560913086},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41482338309288025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40490126609802246},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3087124526500702},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1025741696357727},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09314119815826416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08742508292198181}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.807715117931366},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7721466422080994},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.650591254234314},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.63539057970047},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5382046699523926},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5378223061561584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44837579131126404},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.41727590560913086},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41482338309288025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40490126609802246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3087124526500702},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1025741696357727},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09314119815826416},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08742508292198181},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/1097-4563(200011)17:11<585::aid-rob1>3.0.co;2-7","is_oa":false,"landing_page_url":"https://doi.org/10.1002/1097-4563(200011)17:11<585::aid-rob1>3.0.co;2-7","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W2122063210","https://openalex.org/W2133361850","https://openalex.org/W2313274380"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2897178038","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231","https://openalex.org/W4292862729","https://openalex.org/W2380019117","https://openalex.org/W2150982344"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"time":[3,90],"optimal":[4,91],"path":[5,55,64,78],"planning":[6,56,65],"under":[7,66,96],"kinematic":[8,67],"and":[9,31,43,83,112],"dynamic":[10,20,47,97],"constraints":[11,33,37,48,68,100],"for":[12],"a":[13,23,60,72,89,102],"2-DOF":[14],"wheeled":[15],"mobile":[16],"robot":[17],"(WMR).":[18],"The":[19,54,76],"model":[21],"of":[22,80,101],"WMR":[24,103],"is":[25,57,69,86,94,110],"derived":[26],"using":[27],"the":[28,32,107],"Newton\u2013Euler":[29],"method":[30,109],"are":[34,38,49,104,116],"analyzed.":[35],"Kinematic":[36],"imposed":[39],"by":[40],"WMR's":[41],"nonholonomy":[42],"structural":[44],"limits,":[45],"while":[46],"due":[50],"to":[51],"motor":[52],"saturation.":[53],"formulated":[58],"as":[59],"two-stage":[61],"planning.":[62],"First,":[63],"transformed":[70],"into":[71],"pure":[73],"geometric":[74],"problem.":[75],"shortest":[77],"composed":[79],"circular":[81],"arcs":[82],"straight":[84],"lines":[85],"obtained.":[87],"Then,":[88],"velocity":[92],"profile":[93],"generated":[95],"constraints.":[98],"Since":[99],"fully":[105],"exploited,":[106],"proposed":[108],"simple":[111],"effective.":[113],"Simulation":[114],"results":[115],"demonstrated.":[117],"\u00a9":[118],"2000":[119],"John":[120],"Wiley":[121],"&":[122],"Sons,":[123],"Inc.":[124]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
