{"id":"https://openalex.org/W2087842351","doi":"https://doi.org/10.1108/01439910910980204","title":"Motion planning for omni\u2010directional mobile robots based on anisotropy and artificial potential field method","display_name":"Motion planning for omni\u2010directional mobile robots based on anisotropy and artificial potential field method","publication_year":2009,"publication_date":"2009-08-21","ids":{"openalex":"https://openalex.org/W2087842351","doi":"https://doi.org/10.1108/01439910910980204","mag":"2087842351"},"language":"en","primary_location":{"id":"doi:10.1108/01439910910980204","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910980204","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5048127002","display_name":"Chuntao Leng","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chuntao Leng","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Cao","raw_affiliation_strings":["Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048127002"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.3236,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.59766525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"36","issue":"5","first_page":"477","last_page":"488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/motion-planning","display_name":"Motion planning","score":0.8045384883880615},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5662506818771362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5590890645980835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5242345929145813},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5240897536277771},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5193208456039429},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4750154912471771},{"id":"https://openalex.org/keywords/anisotropy","display_name":"Anisotropy","score":0.4473249614238739},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4465734362602234},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.43488383293151855},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3587362468242645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3415184020996094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23717007040977478},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18112677335739136},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09713384509086609},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0730845034122467}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8045384883880615},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5662506818771362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5590890645980835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5242345929145813},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5240897536277771},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5193208456039429},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4750154912471771},{"id":"https://openalex.org/C85725439","wikidata":"https://www.wikidata.org/wiki/Q466686","display_name":"Anisotropy","level":2,"score":0.4473249614238739},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4465734362602234},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.43488383293151855},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3587362468242645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3415184020996094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23717007040977478},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18112677335739136},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09713384509086609},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0730845034122467},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439910910980204","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910980204","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W130604711","https://openalex.org/W1503438515","https://openalex.org/W1526117436","https://openalex.org/W1608481154","https://openalex.org/W1991423307","https://openalex.org/W2037571316","https://openalex.org/W2069562062","https://openalex.org/W2078536073","https://openalex.org/W2088985627","https://openalex.org/W2095936905","https://openalex.org/W2098992915","https://openalex.org/W2103120971","https://openalex.org/W2111479185","https://openalex.org/W2116455087","https://openalex.org/W2131505299","https://openalex.org/W2141988813","https://openalex.org/W2150531233","https://openalex.org/W2158575902","https://openalex.org/W2163502329","https://openalex.org/W2166814505","https://openalex.org/W2232494067","https://openalex.org/W2541089803","https://openalex.org/W4210556961","https://openalex.org/W6684189685"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W2153809277","https://openalex.org/W1521225173","https://openalex.org/W2015961810","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514"],"abstract_inverted_index":{"Purpose":[0],"The":[1,145,184,209],"purpose":[2],"of":[3,41,53,94,112,140,152,163,193,206,212,222],"this":[4,141],"paper":[5],"is":[6,56,87,107,188,216],"to":[7,60,74,90,128,218],"propose":[8],"a":[9,84],"suitable":[10],"motion":[11,23,36,98,125,186,223,228],"planning":[12,187],"for":[13,190],"omni\u2010directional":[14,156],"mobile":[15],"robots":[16],"(OMRs)":[17],"by":[18,241,251],"taking":[19],"into":[20],"account":[21],"the":[22,28,33,42,51,54,62,65,68,76,81,91,97,113,129,136,150,155,204,220,234,242,253],"characteristics.":[24],"Design/methodology/approach":[25],"Based":[26],"on":[27,154],"kinematic":[29],"and":[30,38,50,79,116,123,132,138,197],"dynamic":[31],"constraints,":[32],"maximum":[34],"velocity,":[35],"stability":[37],"energy":[39],"consumption":[40],"OMR":[43,55],"moving":[44],"in":[45,72,83,224,233],"different":[46,225,238,246],"directions":[47],"are":[48,158,168],"analysed,":[49],"anisotropy":[52],"presented.":[57],"In":[58,172],"order":[59,73],"obtain":[61],"optimal":[63],"motion,":[64],"path":[66,86],"that":[67],"robot":[69],"can":[70,201,230,248],"take":[71],"avoid":[75],"obstacle":[77],"safely":[78],"reach":[80],"goal":[82],"shorter":[85],"deduced.":[88],"According":[89],"new":[92,210],"concept":[93,211],"anisotropic":[95,114,214,243],"function,":[96,244],"direction":[99,236],"derived":[100],"from":[101],"traditional":[102],"artificial":[103],"potential":[104],"field":[105],"(tAPF)":[106],"regulated.":[108],"Findings":[109],"A":[110],"combination":[111],"function":[115,215],"tAPF":[117],"method":[118],"produces":[119],"high\u2010speed,":[120],"highly":[121],"stable":[122],"efficient":[124],"when":[126],"compared":[127],"tAPF.":[130],"Simulations":[131],"experiments":[133],"have":[134],"proven":[135],"validity":[137],"effectiveness":[139],"method.":[142],"Research":[143],"limitations/implications":[144],"practical":[146],"factors,":[147],"such":[148],"as":[149],"effect":[151],"wear":[153],"wheels,":[157],"not":[159,169],"considered.":[160],"Typical":[161],"problems":[162],"APF,":[164],"e.g.":[165],"local":[166],"minima,":[167],"addressed":[170],"here.":[171],"our":[173],"future":[174],"research,":[175],"we":[176],"will":[177],"deal":[178],"with":[179,237],"these":[180],"issues.":[181],"Practical":[182],"implications":[183],"proposed":[185,217],"applicable":[189],"any":[191],"kind":[192],"OMRs,":[194,199],"both":[195],"three\u2010":[196],"four\u2010wheeled":[198],"which":[200],"fully":[202],"exhibit":[203],"advantages":[205],"OMRs.":[207],"Originality/value":[208],"an":[213],"indicate":[219],"quality":[221],"directions.":[226],"Different":[227],"effects":[229],"be":[231,249],"obtained":[232],"same":[235],"weights":[239],"denoted":[240],"i.e.":[245],"trade\u2010offs":[247],"achieved":[250],"varying":[252],"weights.":[254]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}