{"id":"https://openalex.org/W2964163766","doi":"https://doi.org/10.1080/01691864.2019.1642240","title":"Real-time autonomous navigation of an electric wheelchair in large-scale urban area with 3D map","display_name":"Real-time autonomous navigation of an electric wheelchair in large-scale urban area with 3D map","publication_year":2019,"publication_date":"2019-07-25","ids":{"openalex":"https://openalex.org/W2964163766","doi":"https://doi.org/10.1080/01691864.2019.1642240","mag":"2964163766"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2019.1642240","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1642240","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5079123348","display_name":"Shun Niijima","orcid":"https://orcid.org/0000-0002-7595-2191"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shun Niijima","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","National Institute of Advanced Industrial Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102748358","display_name":"Yoko Sasaki","orcid":"https://orcid.org/0000-0002-1220-6124"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoko Sasaki","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057754307","display_name":"Hiroshi Mizoguchi","orcid":"https://orcid.org/0000-0002-1322-6098"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Mizoguchi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","National Institute of Advanced Industrial Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079123348"],"corresponding_institution_ids":["https://openalex.org/I161296585","https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":1.1135,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.82092485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"33","issue":"19","first_page":"1006","last_page":"1018"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.7249946594238281},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6804319024085999},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6380945444107056},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.6162867546081543},{"id":"https://openalex.org/keywords/electronic-map","display_name":"Electronic map","score":0.5282187461853027},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5229274034500122},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5174656510353088},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44368210434913635},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44297462701797485},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44261837005615234},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4108751714229584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41022366285324097},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4047948718070984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3351368308067322},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17946788668632507},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.11148929595947266},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09197583794593811}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.7249946594238281},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6804319024085999},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6380945444107056},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.6162867546081543},{"id":"https://openalex.org/C2984360240","wikidata":"https://www.wikidata.org/wiki/Q4006","display_name":"Electronic map","level":2,"score":0.5282187461853027},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5229274034500122},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5174656510353088},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44368210434913635},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44297462701797485},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44261837005615234},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4108751714229584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41022366285324097},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4047948718070984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3351368308067322},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17946788668632507},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.11148929595947266},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09197583794593811},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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:10.1080/01691864.2019.1642240","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1642240","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W120805391","https://openalex.org/W170770739","https://openalex.org/W1964168945","https://openalex.org/W1969472392","https://openalex.org/W2014532662","https://openalex.org/W2034260464","https://openalex.org/W2037399936","https://openalex.org/W2080486840","https://openalex.org/W2087627746","https://openalex.org/W2097427210","https://openalex.org/W2099149679","https://openalex.org/W2102035832","https://openalex.org/W2117211893","https://openalex.org/W2129711966","https://openalex.org/W2130422193","https://openalex.org/W2131865378","https://openalex.org/W2154418813","https://openalex.org/W2154968336","https://openalex.org/W2290549753","https://openalex.org/W2781585794","https://openalex.org/W2889707869","https://openalex.org/W2892245714","https://openalex.org/W2951320081"],"related_works":["https://openalex.org/W2029475369","https://openalex.org/W2015213339","https://openalex.org/W2157678966","https://openalex.org/W2382313969","https://openalex.org/W2965558985","https://openalex.org/W2497892377","https://openalex.org/W2896858210","https://openalex.org/W2616297316","https://openalex.org/W2260064841","https://openalex.org/W2681895808"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,72,82,89,94,99,151,171,178,188,191,194,197],"real-time":[4,112],"autonomous":[5,156],"navigation":[6,69,96,113,153,157],"of":[7,102,115,187,190],"an":[8,139],"electric":[9,31,140],"wheelchair":[10,141],"in":[11,37,108,146,162],"a":[12,45,53,58,62,68,77,120,129,143],"large-scale":[13,73,95],"urban":[14,28],"area.":[15],"Accurate":[16],"self-pose":[17],"localization":[18,54,123],"and":[19,40,61,81,128,148,177],"well-chosen":[20],"motion":[21],"control":[22],"are":[23],"crucial":[24],"for":[25,158],"application":[26],"to":[27,196],"areas,":[29],"as":[30],"wheelchairs":[32],"move":[33],"on":[34,57,67,142],"paved":[35],"roads":[36],"dynamic":[38],"environments":[39],"travel":[41],"along":[42],"sidewalks":[43],"at":[44,183],"brisk":[46],"speed.":[47],"Our":[48],"system":[49,154],"is":[50],"equipped":[51],"with":[52,88],"module":[55,65],"based":[56,66],"3D":[59,74,126],"map":[60,75,90,97,116,127,192],"path":[63,103,131,179],"planning":[64,132,180],"map.":[70],"However,":[71],"causes":[76,106],"high":[78,184],"memory":[79,172],"load,":[80],"embedded":[83],"PC":[84],"can":[85],"not":[86],"deal":[87],"data.":[91],"In":[92],"addition,":[93],"increases":[98],"computational":[100],"cost":[101],"planning,":[104],"which":[105],"delays":[107],"navigation.":[109],"To":[110],"achieve":[111],"independent":[114],"size,":[117],"we":[118],"propose":[119],"6-DoF":[121],"pose":[122],"switching":[124],"reference":[125],"two-step":[130],"framework.":[133],"We":[134],"ran":[135],"tests":[136],"by":[137],"using":[138],"real":[144],"street":[145],"Tokyo":[147],"found":[149],"that":[150,170],"proposed":[152],"achieved":[155],"over":[159],"8.8":[160],"km":[161],"about":[163],"133":[164],"minutes.":[165],"The":[166],"experimental":[167],"results":[168],"showed":[169],"load":[173],"was":[174,181],"kept":[175],"constant":[176],"performed":[182],"frequency,":[185],"regardless":[186],"size":[189],"or":[193],"distance":[195],"destination.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}