{"id":"https://openalex.org/W3167906178","doi":"https://doi.org/10.1017/s026357472100076x","title":"Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment","display_name":"Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment","publication_year":2021,"publication_date":"2021-06-16","ids":{"openalex":"https://openalex.org/W3167906178","doi":"https://doi.org/10.1017/s026357472100076x","mag":"3167906178"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472100076x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472100076x","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/A5036693828","display_name":"\u00dcmit Yerlikaya","orcid":"https://orcid.org/0000-0002-7712-1711"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"\u00dcmit Yerlikaya","raw_affiliation_strings":["Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-7712-1711","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048265166","display_name":"Raif Tuna Balkan","orcid":"https://orcid.org/0000-0003-3245-4958"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"R.Tuna Balkan","raw_affiliation_strings":["Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036693828"],"corresponding_institution_ids":["https://openalex.org/I201799495"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05732731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"3","first_page":"690","last_page":"719"},"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9866999983787537,"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/turret","display_name":"Turret","score":0.9094072580337524},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7733715176582336},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.7032127976417542},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6336702108383179},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6129037737846375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5881323218345642},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5877423286437988},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4667637050151825},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41247424483299255},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41200006008148193},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34118667244911194},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33288729190826416},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.28932976722717285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28524050116539},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27047741413116455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23128700256347656},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20884183049201965},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1469060778617859},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1009509265422821}],"concepts":[{"id":"https://openalex.org/C21481585","wikidata":"https://www.wikidata.org/wiki/Q6502179","display_name":"Turret","level":2,"score":0.9094072580337524},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7733715176582336},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.7032127976417542},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6336702108383179},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6129037737846375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5881323218345642},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5877423286437988},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4667637050151825},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41247424483299255},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41200006008148193},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34118667244911194},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33288729190826416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28932976722717285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28524050116539},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27047741413116455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23128700256347656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20884183049201965},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1469060778617859},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1009509265422821},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s026357472100076x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472100076x","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"},{"id":"pmh:oai:https://open.metu.edu.tr:11511/91221","is_oa":false,"landing_page_url":"https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108251706&origin=inward","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1660808159","https://openalex.org/W1965492977","https://openalex.org/W1978397348","https://openalex.org/W1998293730","https://openalex.org/W2005102720","https://openalex.org/W2023779020","https://openalex.org/W2084597572","https://openalex.org/W2094925648","https://openalex.org/W2112994798","https://openalex.org/W2128990851","https://openalex.org/W2129038678","https://openalex.org/W2129487394","https://openalex.org/W2135189172","https://openalex.org/W2141052493","https://openalex.org/W2141825555","https://openalex.org/W2150500908","https://openalex.org/W2163178194","https://openalex.org/W2198499411","https://openalex.org/W2300800472","https://openalex.org/W2474655341","https://openalex.org/W2540388786","https://openalex.org/W2691278361","https://openalex.org/W2806892057","https://openalex.org/W2889379088","https://openalex.org/W2899201801","https://openalex.org/W2901225461","https://openalex.org/W2927874028","https://openalex.org/W2933899040","https://openalex.org/W2946221986","https://openalex.org/W2964792460","https://openalex.org/W2993408200","https://openalex.org/W3007509160","https://openalex.org/W3015635168","https://openalex.org/W3036205974","https://openalex.org/W3085594901","https://openalex.org/W3086681710","https://openalex.org/W3086705392","https://openalex.org/W3090339253","https://openalex.org/W3118780897","https://openalex.org/W3122094109","https://openalex.org/W3216132981","https://openalex.org/W6679201544"],"related_works":["https://openalex.org/W845547221","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612","https://openalex.org/W2134215012"],"abstract_inverted_index":{"Abstract":[0],"Instead":[1],"of":[2,7,30,45,72],"using":[3,88],"the":[4,28,67,70,73],"tedious":[5],"process":[6],"manual":[8],"positioning,":[9],"an":[10,33],"off-line":[11],"path":[12,40,78],"planning":[13,79],"algorithm":[14,34],"has":[15],"been":[16],"developed":[17],"for":[18],"military":[19],"turrets":[20],"to":[21,37],"improve":[22],"their":[23,92],"accuracy":[24],"and":[25,52,63,91,99],"efficiency.":[26],"In":[27],"scope":[29],"this":[31],"research,":[32],"is":[35],"proposed":[36,74],"search":[38],"a":[39],"in":[41,107],"three":[42,56,109],"different":[43],"types":[44],"configuration":[46],"spaces":[47],"which":[48],"are":[49],"rectangular-,":[50],"circular-,":[51],"torus-shaped":[53],"by":[54,87],"providing":[55],"converging":[57],"options":[58],"named":[59],"as":[60,83],"fast,":[61],"medium,":[62],"optimum":[64],"depending":[65],"on":[66],"application.":[68],"With":[69],"help":[71],"algorithm,":[75],"4-dimensional":[76],"(D)":[77],"problem":[80],"was":[81,102],"realized":[82],"2-D":[84,86],"+":[85],"six":[89],"sequences":[90],"options.":[93,110],"The":[94],"results":[95],"obtained":[96],"were":[97],"simulated":[98],"no":[100],"collision":[101],"observed":[103],"between":[104],"any":[105],"bodies":[106],"these":[108]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
