{"id":"https://openalex.org/W7133198884","doi":"https://doi.org/10.1007/s10846-025-02311-7","title":"Obstacle Avoidance for Human-Centric Environments Using a Modified Artificial Potential Field - Probabilistic Roadmaps Based Planner","display_name":"Obstacle Avoidance for Human-Centric Environments Using a Modified Artificial Potential Field - Probabilistic Roadmaps Based Planner","publication_year":2026,"publication_date":"2026-03-02","ids":{"openalex":"https://openalex.org/W7133198884","doi":"https://doi.org/10.1007/s10846-025-02311-7"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02311-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02311-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-025-02311-7","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5127853977","display_name":"Sai Teja Narendula","orcid":null},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sai Teja Narendula","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127815511","display_name":"Akhil Bandamidapalli","orcid":null},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Akhil Bandamidapalli","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054068137","display_name":"Gokula Vishnu Kirti Damodaran","orcid":"https://orcid.org/0009-0002-3352-1040"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Gokula Vishnu Kirti Damodaran","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013981517","display_name":"Prabhu Rajagopal","orcid":"https://orcid.org/0000-0002-0704-5426"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Prabhu Rajagopal","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai, 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5013981517"],"corresponding_institution_ids":["https://openalex.org/I24676775"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":9.8969,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96588809,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"112","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8320000171661377,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8320000171661377,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.036400001496076584,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.015200000256299973,"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/motion-planning","display_name":"Motion planning","score":0.7177000045776367},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6873999834060669},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5719000101089478},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5669999718666077},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5637000203132629},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.5608000159263611},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5228999853134155},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5020999908447266},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5012999773025513}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7177000045776367},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6873999834060669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5900999903678894},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5719000101089478},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5669999718666077},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5637000203132629},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.5608000159263611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5335000157356262},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5228999853134155},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5020999908447266},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5012999773025513},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.45730000734329224},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.39750000834465027},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3612000048160553},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3483000099658966},{"id":"https://openalex.org/C60782215","wikidata":"https://www.wikidata.org/wiki/Q3333679","display_name":"Probabilistic method","level":3,"score":0.3434999883174896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32519999146461487},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32350000739097595},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.30640000104904175},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2644999921321869},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2630999982357025},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-025-02311-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02311-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02311-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02311-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4616206884384155,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1904799423","https://openalex.org/W1978301848","https://openalex.org/W2047314391","https://openalex.org/W2128990851","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2164656916","https://openalex.org/W2167340365","https://openalex.org/W2199171022","https://openalex.org/W2612706635","https://openalex.org/W2740584750","https://openalex.org/W2786893837","https://openalex.org/W2794259092","https://openalex.org/W2942972480","https://openalex.org/W2962896489","https://openalex.org/W2964083861","https://openalex.org/W2998137241","https://openalex.org/W3003257820","https://openalex.org/W3175704171","https://openalex.org/W4212886559","https://openalex.org/W4362692273","https://openalex.org/W4367145988","https://openalex.org/W4387252139","https://openalex.org/W4388219743","https://openalex.org/W4389149165","https://openalex.org/W4405394037"],"related_works":[],"abstract_inverted_index":{"Serial":[0],"manipulators":[1],"are":[2,102],"essential":[3],"for":[4,95,150,164],"automating":[5],"tasks":[6],"and":[7,18,31,73,90,133,147,162],"working":[8],"alongside":[9],"humans":[10,101],"in":[11,98],"the":[12,46,82,119,126,129,168],"fields":[13],"of":[14,144,159,170],"automotive,":[15],"pharmaceutical,":[16],"retail,":[17],"research.":[19],"However,":[20],"there":[21],"is":[22,79],"a":[23,54,108,114,157],"significant":[24],"challenge":[25,38],"to":[26,67],"ensuring":[27],"both":[28],"human":[29,69],"safety":[30],"efficient":[32],"operation.":[33],"This":[34],"paper":[35,127,154],"tackles":[36],"this":[37,171],"by":[39],"introducing":[40],"an":[41,61],"improved":[42],"approach":[43,66,121],"that":[44],"combines":[45],"Modified":[47,131],"Artificial":[48],"Potential":[49],"Field":[50],"(APF)":[51],"method":[52,78],"with":[53,81,122,156],"Probabilistic":[55,91],"Road":[56,92],"Maps":[57],"(PRM)":[58,94],"planner,":[59],"utilizing":[60],"optimization-based":[62],"pose":[63],"estimation":[64],"model":[65],"represent":[68],"obstacles":[70],"using":[71],"RGB":[72],"depth":[74],"information.":[75],"The":[76,104,153],"proposed":[77,120],"compared":[80],"commonly":[83],"used":[84],"Rapidly":[85],"Exploring":[86],"Random":[87],"Tree":[88],"(RRT)":[89],"Map":[93],"path":[96,141,151],"planning":[97,124],"environments":[99],"where":[100],"involved.":[103],"study":[105],"focuses":[106],"on":[107,113,137,167],"six-degree-of-freedom":[109],"serial":[110],"manipulator":[111],"wall-mounted":[112],"flat":[115],"surface.":[116],"By":[117],"comparing":[118],"existing":[123],"algorithms,":[125],"analyzes":[128],"developed":[130],"APF-PRM":[132],"its":[134],"performance":[135],"based":[136,166],"metrics":[138],"such":[139],"as":[140],"length,":[142],"variation":[143],"joint":[145],"angles,":[146],"time":[148],"taken":[149],"planning.":[152],"concludes":[155],"discussion":[158],"potential":[160],"improvements":[161],"refinements":[163],"algorithms":[165],"results":[169],"study.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2026-03-03T00:00:00"}
