{"id":"https://openalex.org/W1989997357","doi":"https://doi.org/10.1017/s0263574701003484","title":"Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space","display_name":"Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space","publication_year":2001,"publication_date":"2001-08-29","ids":{"openalex":"https://openalex.org/W1989997357","doi":"https://doi.org/10.1017/s0263574701003484","mag":"1989997357"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574701003484","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574701003484","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5043106234","display_name":"Gabriel Ram\u00edrez","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gabriel Ram\u00edrez","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France","Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I32881790"]},{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France)#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I32881790"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103214796","display_name":"Sa\u00efd Zeghloul","orcid":"https://orcid.org/0000-0003-3590-9532"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sa\u00efd Zeghloul","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France","Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I32881790"]},{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides \u2013 UMR 6610 CNRS, Universit\u00e9 de Poitiers, SP2MI, Bd. Marie et Pierre Curie, T\u00e9l\u00e9port 2, BP 179, 86962 Futuroscope CEDEX (France)#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I32881790"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6788,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.75449484,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"19","issue":"5","first_page":"543","last_page":"555"},"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/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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9979000091552734,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/obstacle","display_name":"Obstacle","score":0.739753007888794},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7342308759689331},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.664635956287384},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6538691520690918},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6526222229003906},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.614260196685791},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5882321000099182},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5357726216316223},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5291353464126587},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5202742218971252},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.43239080905914307},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.43070870637893677},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3815379738807678},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3774353265762329},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.353776752948761},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2721785008907318},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1016189455986023},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0970296859741211}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.739753007888794},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7342308759689331},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.664635956287384},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6538691520690918},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6526222229003906},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.614260196685791},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5882321000099182},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357726216316223},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5291353464126587},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5202742218971252},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.43239080905914307},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.43070870637893677},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3815379738807678},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3774353265762329},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.353776752948761},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2721785008907318},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1016189455986023},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0970296859741211},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574701003484","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574701003484","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1515188965","https://openalex.org/W1982045123","https://openalex.org/W1990718291","https://openalex.org/W2048678829","https://openalex.org/W2072074874","https://openalex.org/W2080022189","https://openalex.org/W2098412395","https://openalex.org/W2102327748","https://openalex.org/W2104906962","https://openalex.org/W2120105115","https://openalex.org/W2125167987","https://openalex.org/W2125409550","https://openalex.org/W2126525445","https://openalex.org/W2139513138","https://openalex.org/W2148631662","https://openalex.org/W2155229899","https://openalex.org/W2157932003","https://openalex.org/W2163911101","https://openalex.org/W2318680158"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W4245435724","https://openalex.org/W2032198329","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4381746183","https://openalex.org/W2394276631","https://openalex.org/W2383775285"],"abstract_inverted_index":{"This":[0,19],"paper":[1],"presents":[2],"a":[3,48,77,125],"collision-free":[4,43,145],"path":[5],"planner":[6,20,95],"for":[7,24,142],"mobile":[8],"robot":[9,38,86],"navigation":[10],"in":[11,54,60],"an":[12],"unknown":[13],"environment":[14],"subject":[15],"to":[16],"nonholonomic":[17],"constraints.":[18],"is":[21,45,96],"well":[22],"adapted":[23],"use":[25,88],"with":[26,91],"embarked":[27],"sensors,":[28],"because":[29],"it":[30],"uses":[31],"only":[32],"the":[33,37,40,52,55,61,70,74,82,85,92,104,119,130,136,139,144],"distance":[34],"information":[35],"between":[36],"and":[39,107,124],"obstacles.":[41],"The":[42,58,94,112,132],"path-planning":[44,146],"based":[46],"on":[47],"new":[49],"representation":[50],"of":[51,73,115,129,138],"obstacles":[53,59],"velocity":[56,71],"space.":[57],"influence":[62],"zone":[63],"are":[64,118],"mapped":[65],"as":[66],"linear":[67],"constraints":[68],"into":[69],"space":[72],"robot,":[75],"forming":[76],"convex":[78],"subset":[79],"that":[80,84],"represents":[81],"velocities":[83],"can":[87],"without":[89],"collision":[90],"objects.":[93],"composed":[97],"by":[98],"two":[99],"modules,":[100],"termed":[101],"\u201c":[102,108],"reaching":[103],"goal":[105],"\u201d":[106],"boundary":[109],"following":[110],"\u201d.":[111],"major":[113],"advantages":[114],"this":[116],"method":[117,141],"very":[120],"short":[121],"calculation":[122],"time":[123],"continuous":[126],"stable":[127],"behavior":[128],"velocities.":[131],"results":[133],"presented":[134],"demonstrate":[135],"capabilities":[137],"proposed":[140],"solving":[143],"problem.":[147]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
