{"id":"https://openalex.org/W2154859766","doi":"https://doi.org/10.1017/s0263574708004876","title":"Trajectory and temporal planning of a wheeled mobile robot on an uneven surface","display_name":"Trajectory and temporal planning of a wheeled mobile robot on an uneven surface","publication_year":2008,"publication_date":"2008-08-11","ids":{"openalex":"https://openalex.org/W2154859766","doi":"https://doi.org/10.1017/s0263574708004876","mag":"2154859766"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574708004876","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708004876","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/A5023990891","display_name":"Waheed Imran","orcid":"https://orcid.org/0000-0003-2707-4125"},"institutions":[{"id":"https://openalex.org/I32625721","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63","country_code":"CA","type":"education","lineage":["https://openalex.org/I32625721"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Imran Waheed","raw_affiliation_strings":["Mechanical Engineering Department, University of Saskatchewan, Canada"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, Canada","institution_ids":["https://openalex.org/I32625721"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008823893","display_name":"Reza Fotouhi","orcid":"https://orcid.org/0000-0002-3972-1468"},"institutions":[{"id":"https://openalex.org/I32625721","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63","country_code":"CA","type":"education","lineage":["https://openalex.org/I32625721"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Reza Fotouhi","raw_affiliation_strings":["Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, CanadaS7N 5A9"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, CanadaS7N 5A9","institution_ids":["https://openalex.org/I32625721"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5008823893"],"corresponding_institution_ids":["https://openalex.org/I32625721"],"apc_list":null,"apc_paid":null,"fwci":1.7559,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.86906757,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"27","issue":"4","first_page":"481","last_page":"498"},"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":0.9987000226974487,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9828000068664551,"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/mobile-robot","display_name":"Mobile robot","score":0.7885310053825378},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7307038903236389},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6404847502708435},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6227788329124451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5672285556793213},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5232811570167542},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4825691282749176},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46249961853027344},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4529135227203369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3183152675628662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08349928259849548},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.061644405126571655}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7885310053825378},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7307038903236389},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6404847502708435},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6227788329124451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5672285556793213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5232811570167542},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4825691282749176},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46249961853027344},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4529135227203369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3183152675628662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08349928259849548},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.061644405126571655},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574708004876","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708004876","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","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310865","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W4358642","https://openalex.org/W628362799","https://openalex.org/W1559793070","https://openalex.org/W1572277230","https://openalex.org/W1578483761","https://openalex.org/W1904583803","https://openalex.org/W1999006234","https://openalex.org/W2016144890","https://openalex.org/W2023890266","https://openalex.org/W2045682702","https://openalex.org/W2047215744","https://openalex.org/W2074434359","https://openalex.org/W2077231790","https://openalex.org/W2083250327","https://openalex.org/W2103383932","https://openalex.org/W2120875877","https://openalex.org/W2122061558","https://openalex.org/W2122536841","https://openalex.org/W2140276305","https://openalex.org/W2141853156","https://openalex.org/W2162338607","https://openalex.org/W2165583077","https://openalex.org/W3184352362","https://openalex.org/W3217070125","https://openalex.org/W3217549584","https://openalex.org/W4299825255","https://openalex.org/W6677785868","https://openalex.org/W6684576384"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","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"],"abstract_inverted_index":{"SUMMARY":[0],"Computing":[1],"a":[2,7,11,28,43,52,64,88,94,99,106,114,127,166,172,177,182,229],"realistic":[3],"velocity":[4,54,66,178,195,199],"profile":[5,179],"for":[6,27,203],"mobile":[8,29,85,116,192,249],"robot":[9,30,86,117,250],"is":[10,87,111,134,143,161,180,187,207,226,234,262],"challenging":[12],"task":[13,34],"due":[14],"to":[15,31,39,50,71,77,118,153,189,196],"the":[16,58,84,157,191,197,248,252,256],"large":[17],"number":[18,167],"of":[19,74,150,156,168,223,236,258],"kinematic":[20],"and":[21,41,76,170,211,244,272],"dynamic":[22],"constraints":[23,169],"involved.":[24],"In":[25],"order":[26],"complete":[32],"its":[33,245],"it":[35,91,267],"must":[36,92],"be":[37,48,69,119],"able":[38],"plan":[40],"follow":[42,51,93],"trajectory.":[44],"It":[45],"may":[46],"also":[47,208],"necessary":[49],"given":[53,65,198],"profile,":[55,67],"depending":[56],"on":[57,113,238,247],"environment.":[59],"Temporal":[60],"planning,":[61],"or":[62],"following":[63,98],"can":[68],"used":[70,120,188],"minimize":[72],"time":[73,149,184],"motion":[75],"avoid":[78],"moving":[79,205,237],"obstacles.":[80],"For":[81],"example,":[82],"assuming":[83],"smart":[89],"wheelchair,":[90],"prescribed":[95],"path":[96,131],"while":[97],"strict":[100],"speed":[101],"limit.":[102],"This":[103,159,260],"paper":[104,225],"presents":[105],"temporal":[107,230],"planning":[108,132,231],"algorithm":[109,261],"that":[110],"implemented":[112],"wheeled":[115],"in":[121,227,255],"an":[122,147,239],"indoor":[123],"setting,":[124],"such":[125],"as":[126,266],"hospital":[128],"ward.":[129],"The":[130,220],"stage":[133],"accomplished":[135],"by":[136,145,164],"using":[137,171],"cubic":[138],"spline":[139],"functions.":[140],"A":[141,201],"trajectory":[142,160],"created":[144],"assigning":[146],"arbitrary":[148],"1":[151],"s":[152],"each":[154,218],"segment":[155],"path.":[158],"made":[162],"feasible":[163],"applying":[165],"linear":[173,194],"scaling":[174,185],"technique.":[175],"When":[176],"given,":[181],"non-linear":[183],"technique":[186],"fit":[190],"robot's":[193],"profile.":[200],"method":[202],"avoiding":[204],"obstacles":[206],"implemented.":[209],"Simulation":[210],"experimental":[212],"results":[213],"showed":[214],"good":[215],"agreement":[216],"with":[217],"other.":[219],"main":[221],"contribution":[222],"this":[224],"developing":[228],"algorithm,":[232],"which":[233],"capable":[235],"uneven":[240],"surface":[241],"(graded":[242],"non-flat),":[243],"implementation":[246],"at":[251],"robotics":[253],"lab":[254],"University":[257],"Saskatchewan.":[259],"computationally":[263],"very":[264],"efficient":[265],"requires":[268],"low":[269],"computation":[270],"cost":[271],"does":[273],"not":[274],"involve":[275],"major":[276],"iterations.":[277]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}