{"id":"https://openalex.org/W2025780369","doi":"https://doi.org/10.1080/10798587.1998.10750733","title":"Nonlinear Optimization-Based Motion Planning of Nonholonomic Systems using an Iterative Algorithm","display_name":"Nonlinear Optimization-Based Motion Planning of Nonholonomic Systems using an Iterative Algorithm","publication_year":1998,"publication_date":"1998-01-01","ids":{"openalex":"https://openalex.org/W2025780369","doi":"https://doi.org/10.1080/10798587.1998.10750733","mag":"2025780369"},"language":"en","primary_location":{"id":"doi:10.1080/10798587.1998.10750733","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1998.10750733","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation &amp; Soft Computing","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/A5051834451","display_name":"Chih\u2010Chen Yih","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chih-Chen Yih","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5075289985","display_name":"Paul I. Ro","orcid":"https://orcid.org/0000-0003-3515-706X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paul I. Ro","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051834451"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.15459029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"4","issue":"3","first_page":"227","last_page":"239"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9915000200271606,"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/computer-science","display_name":"Computer science","score":0.881766140460968},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8406879901885986},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5956622958183289},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4944283962249756},{"id":"https://openalex.org/keywords/optimization-algorithm","display_name":"Optimization algorithm","score":0.47900623083114624},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4394654333591461},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43160784244537354},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41864585876464844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2924555540084839},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15895625948905945},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06909537315368652},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.05524560809135437}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.881766140460968},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8406879901885986},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5956622958183289},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4944283962249756},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.47900623083114624},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4394654333591461},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43160784244537354},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41864585876464844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2924555540084839},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15895625948905945},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06909537315368652},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.05524560809135437},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/10798587.1998.10750733","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1998.10750733","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"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":"Intelligent Automation &amp; Soft Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"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":17,"referenced_works":["https://openalex.org/W1510003436","https://openalex.org/W1926410642","https://openalex.org/W1976433617","https://openalex.org/W1980488552","https://openalex.org/W2040234764","https://openalex.org/W2060422673","https://openalex.org/W2068484625","https://openalex.org/W2099761232","https://openalex.org/W2106737440","https://openalex.org/W2129135315","https://openalex.org/W2133361850","https://openalex.org/W2166559639","https://openalex.org/W2168090892","https://openalex.org/W2798534591","https://openalex.org/W4232097448","https://openalex.org/W4246463991","https://openalex.org/W4251794413"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1563391512","https://openalex.org/W4247004153","https://openalex.org/W2383775285"],"abstract_inverted_index":{"ABSTRACTA":[0],"nonlinear":[1,39,102],"optimization-based":[2],"scheme":[3,124],"is":[4,43,68,86,110,125],"developed":[5],"for":[6,49,72],"the":[7,15,21,25,28,51,90,95,99,115,119,144,147],"motion":[8,29,91,149],"planning":[9,30,92],"of":[10,31,97,101,118,139,146],"nonholonomic":[11,32,77],"systems.":[12],"By":[13],"specifying":[14],"final":[16,63],"states":[17],"constraints":[18,78],"and":[19,79,132],"using":[20],"performance":[22],"criteria":[23],"involving":[24],"control":[26,47],"energy,":[27],"systems":[33],"can":[34],"be":[35],"recast":[36],"as":[37],"a":[38,54,62,73,133],"optimization":[40],"problem":[41,93,96],"which":[42],"to":[44,61,70,88,113,127],"find":[45],"suitable":[46],"inputs":[48],"steering":[50],"system":[52],"along":[53],"feasible":[55,74],"path":[56,75],"from":[57],"an":[58,128],"initial":[59],"state":[60],"state.":[64],"An":[65],"iterative":[66],"algorithm":[67],"proposed":[69,123,148],"solve":[71],"satisfying":[76],"necessary":[80],"optimality":[81],"conditions.":[82],"First,":[83],"multi-point":[84],"shooting":[85],"used":[87,112],"convert":[89],"into":[94],"finding":[98],"solution":[100],"equations.":[103],"Modified":[104],"Newton's":[105],"method":[106],"with":[107],"line":[108],"search":[109],"then":[111],"ensure":[114],"global":[116],"convergence":[117],"numerical":[120,140],"algorithm.":[121],"The":[122,137],"applied":[126],"one-leg":[129],"hopping":[130],"robot":[131],"two-wheeled":[134],"mobile":[135],"robot.":[136],"results":[138],"simulation":[141],"clearly":[142],"demonstrate":[143],"effectiveness":[145],"pl...":[150]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
