{"id":"https://openalex.org/W4367182991","doi":"https://doi.org/10.1017/s0263574723000127","title":"Potential field-based dual heuristic programming for path-following and obstacle avoidance of wheeled mobile robots","display_name":"Potential field-based dual heuristic programming for path-following and obstacle avoidance of wheeled mobile robots","publication_year":2023,"publication_date":"2023-04-27","ids":{"openalex":"https://openalex.org/W4367182991","doi":"https://doi.org/10.1017/s0263574723000127"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723000127","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000127","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/A5043548738","display_name":"Yaoqian Peng","orcid":"https://orcid.org/0000-0001-5141-616X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoqian Peng","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101668802","display_name":"Xinglong Zhang","orcid":"https://orcid.org/0000-0002-0587-2487"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinglong Zhang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020386015","display_name":"Haibin Xie","orcid":"https://orcid.org/0000-0001-6408-9348"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haibin Xie","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053112608","display_name":"Xin Xu","orcid":"https://orcid.org/0000-0003-3238-745X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Xu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020386015","https://openalex.org/A5101668802"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.4913,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63524063,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"41","issue":"7","first_page":"1931","last_page":"1946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9839000105857849,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8494811058044434},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6638479232788086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6439489722251892},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6268909573554993},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6096600890159607},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5851984024047852},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5742385387420654},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5489438772201538},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5279107689857483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5032908320426941},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4674302935600281},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4667143225669861},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.42133814096450806},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3143043518066406},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.29343634843826294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2585561275482178},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21304455399513245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16216635704040527},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06581944227218628},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06085258722305298}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8494811058044434},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6638479232788086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6439489722251892},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6268909573554993},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6096600890159607},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5851984024047852},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5742385387420654},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5489438772201538},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5279107689857483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5032908320426941},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4674302935600281},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4667143225669861},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.42133814096450806},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3143043518066406},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29343634843826294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2585561275482178},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21304455399513245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16216635704040527},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06581944227218628},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06085258722305298},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723000127","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000127","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":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2103120971","https://openalex.org/W2127617835","https://openalex.org/W2164479831","https://openalex.org/W2529203031","https://openalex.org/W2768933283","https://openalex.org/W2789778114","https://openalex.org/W2790268363","https://openalex.org/W2842089854","https://openalex.org/W2883776918","https://openalex.org/W2889711700","https://openalex.org/W2891998162","https://openalex.org/W2909324603","https://openalex.org/W2917250835","https://openalex.org/W2925144242","https://openalex.org/W2951294143","https://openalex.org/W2963105220","https://openalex.org/W2971473345","https://openalex.org/W2995089744","https://openalex.org/W3001538587","https://openalex.org/W3005355833","https://openalex.org/W3006148668","https://openalex.org/W3021750993","https://openalex.org/W3042731680","https://openalex.org/W3048422314","https://openalex.org/W3049652862","https://openalex.org/W3098201584","https://openalex.org/W3098925401","https://openalex.org/W3099352109","https://openalex.org/W3112148202","https://openalex.org/W3119933750","https://openalex.org/W4200103418","https://openalex.org/W4240817581","https://openalex.org/W6684037837","https://openalex.org/W6785148794","https://openalex.org/W6804609859"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Abstract":[0],"Path-following":[1],"control":[2,15,21,26,43,76,89,102,116,127,133,145,159,185,197],"of":[3,77,189],"wheeled":[4],"mobile":[5,78],"robots":[6,79],"has":[7],"been":[8],"a":[9,61,105,119,130],"crucial":[10],"research":[11],"topic":[12],"in":[13,118,170,196],"robotic":[14],"theory":[16],"and":[17,27,44,51,90,161,166,175,192],"applications.":[18],"In":[19,83],"path-following":[20,25,42,75,88,115,126,184],"with":[22,47,69,80,123,186],"obstacles,":[23],"the":[24,84,87,101,113,124,148,152,157,163,187],"collision":[28,91],"avoidance":[29,46,92],"goals":[30],"might":[31],"be":[32],"conflicting,":[33],"making":[34],"it":[35],"challenging":[36],"to":[37,99,111,142],"obtain":[38],"near-optimal":[39,114,183],"solutions":[40],"for":[41,74],"obstacle":[45,81,171],"low":[48],"tracking":[49,164],"error":[50,165],"input":[52,167],"energy":[53,168],"consumption.":[54],"To":[55],"address":[56],"this":[57],"problem,":[58],"we":[59],"propose":[60],"potential":[62,131],"field-based":[63,132],"dual":[64],"heuristic":[65],"programming":[66],"(P-DHP)":[67],"algorithm":[68],"an":[70],"actor\u2013critic":[71],"(AC)":[72],"structure":[73,135],"avoidance.":[82,172],"proposed":[85],"P-DHP,":[86],"problems":[93],"are":[94],"decoupled":[95],"into":[96],"two":[97],"ones":[98],"resolve":[100],"conflict.":[103],"Firstly,":[104],"neural":[106],"network-based":[107],"AC":[108,140],"is":[109,136],"constructed":[110,137],"approximate":[112],"policy":[117,128,134],"no-obstacle":[120],"environment.":[121],"Then,":[122],"trained":[125],"fixed,":[129],"by":[138],"another":[139],"network":[141],"generate":[143],"opposite":[144],"forces":[146],"as":[147],"robot":[149],"moves":[150],"toward":[151],"obstacle,":[153],"which":[154],"can":[155,181],"guarantee":[156],"robot\u2019s":[158],"safety":[160,190],"reduce":[162],"consumption":[169],"The":[173],"simulated":[174],"experimental":[176],"results":[177],"show":[178],"that":[179],"P-DHP":[180],"realize":[182],"satisfaction":[188],"constraints":[191],"outperforms":[193],"state-of-the-art":[194],"approaches":[195],"performance.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-02-06T02:01:19.302388","created_date":"2025-10-10T00:00:00"}
