{"id":"https://openalex.org/W2981185318","doi":"https://doi.org/10.1108/ir-01-2019-0002","title":"NAO robot obstacle avoidance based on fuzzy Q-learning","display_name":"NAO robot obstacle avoidance based on fuzzy Q-learning","publication_year":2019,"publication_date":"2019-10-16","ids":{"openalex":"https://openalex.org/W2981185318","doi":"https://doi.org/10.1108/ir-01-2019-0002","mag":"2981185318"},"language":"en","primary_location":{"id":"doi:10.1108/ir-01-2019-0002","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2019-0002","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: the international journal of robotics research and application","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://kclpure.kcl.ac.uk/ws/files/119111703/NAO_robot_obstacle_avoidance_based_on_fuzzy_Q_learning_Accepted_Author_Version_.pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067200719","display_name":"Shuhuan Wen","orcid":"https://orcid.org/0000-0002-7646-4958"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuhuan Wen","raw_affiliation_strings":["Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019160495","display_name":"Xueheng Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueheng Hu","raw_affiliation_strings":["Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100332655","display_name":"Zhen Li","orcid":"https://orcid.org/0000-0003-1166-9482"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Li","raw_affiliation_strings":["Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059514204","display_name":"Hak\u2010Keung Lam","orcid":"https://orcid.org/0000-0002-6572-7265"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hak Keung Lam","raw_affiliation_strings":["King\u2019s College London, London, UK"],"affiliations":[{"raw_affiliation_string":"King\u2019s College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029662229","display_name":"Bin Fang","orcid":"https://orcid.org/0000-0002-9149-7336"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Fang","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067200719"],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.6133,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.73072254,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"47","issue":"6","first_page":"801","last_page":"811"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9959999918937683,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7094936370849609},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6849011182785034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5720077753067017},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5655710101127625},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48269081115722656},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.4633280634880066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4566570520401001},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44390055537223816},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42950040102005005},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4117337167263031},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39666736125946045}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7094936370849609},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6849011182785034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5720077753067017},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5655710101127625},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48269081115722656},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.4633280634880066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4566570520401001},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44390055537223816},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42950040102005005},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4117337167263031},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39666736125946045},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1108/ir-01-2019-0002","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2019-0002","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: the international journal of robotics research and application","raw_type":"journal-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/a4c1ae8b-ed9a-40d7-9d5e-8e3198c91d68","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/a4c1ae8b-ed9a-40d7-9d5e-8e3198c91d68","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/119111703/NAO_robot_obstacle_avoidance_based_on_fuzzy_Q_learning_Accepted_Author_Version_.pdf","source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen , S , Hu , X , Li , Z , Lam , H K , Sun , F &amp; Fang , B 2019 , ' NAO robot obstacle avoidance based on fuzzy Q-learning ' , Industrial Robot . https://doi.org/10.1108/IR-01-2019-0002","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/a4c1ae8b-ed9a-40d7-9d5e-8e3198c91d68","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/a4c1ae8b-ed9a-40d7-9d5e-8e3198c91d68","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/119111703/NAO_robot_obstacle_avoidance_based_on_fuzzy_Q_learning_Accepted_Author_Version_.pdf","source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen , S , Hu , X , Li , Z , Lam , H K , Sun , F &amp; Fang , B 2019 , ' NAO robot obstacle avoidance based on fuzzy Q-learning ' , Industrial Robot . https://doi.org/10.1108/IR-01-2019-0002","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2981185318.pdf","grobid_xml":"https://content.openalex.org/works/W2981185318.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W826648094","https://openalex.org/W1557517019","https://openalex.org/W1717588182","https://openalex.org/W1853143499","https://openalex.org/W1921727609","https://openalex.org/W1945123189","https://openalex.org/W1983259923","https://openalex.org/W1983868046","https://openalex.org/W1988707322","https://openalex.org/W1989016128","https://openalex.org/W1989332091","https://openalex.org/W1992410138","https://openalex.org/W2000373737","https://openalex.org/W2011713560","https://openalex.org/W2013895638","https://openalex.org/W2018280292","https://openalex.org/W2028559543","https://openalex.org/W2037069310","https://openalex.org/W2042752297","https://openalex.org/W2058326967","https://openalex.org/W2072881998","https://openalex.org/W2101124704","https://openalex.org/W2109586413","https://openalex.org/W2125409550","https://openalex.org/W2129117416","https://openalex.org/W2150990464","https://openalex.org/W2158634442","https://openalex.org/W2171860237","https://openalex.org/W2175593282","https://openalex.org/W2291124468","https://openalex.org/W2350812877","https://openalex.org/W2399784714","https://openalex.org/W2735258917","https://openalex.org/W2911697015","https://openalex.org/W3104999911","https://openalex.org/W4254086355"],"related_works":["https://openalex.org/W2906946336","https://openalex.org/W2938416672","https://openalex.org/W2146611987","https://openalex.org/W4289599435","https://openalex.org/W4389432327","https://openalex.org/W2132660247","https://openalex.org/W2098534227","https://openalex.org/W3126153333","https://openalex.org/W2155757393","https://openalex.org/W1995204376"],"abstract_inverted_index":{"Purpose":[0],"This":[1],"paper":[2],"aims":[3],"to":[4,11,33,145],"propose":[5],"a":[6,95,114,180],"novel":[7],"active":[8],"SLAM":[9],"framework":[10],"realize":[12],"avoid":[13],"obstacles":[14,37,72,149],"and":[15,80,117,133,183,199],"finish":[16],"the":[17,35,40,43,47,51,60,90,105,108,118,123,147,152,155,159,163,171,174,184,189],"autonomous":[18],"navigation":[19],"in":[20,42,154],"indoor":[21],"environment.":[22,44,156],"Design/methodology/approach":[23],"The":[24,57,85,136],"improved":[25,91,124,137,190],"fuzzy":[26,125,138,191],"optimized":[27,77,126,139,192],"Q-Learning":[28,127,140,193],"(FOQL)":[29,141],"algorithm":[30,79,82,93,110,130,142,176,196],"is":[31,55,62,111,131,143,167,177,197],"used":[32,144],"solve":[34,146],"avoidance":[36,129,148,195],"problem":[38,150],"of":[39,50,59,70,151,162],"robot":[41,61,116,153,182],"To":[45,103,157,169],"reduce":[46,158],"motion":[48,160],"deviation":[49,161],"robot,":[52,164],"fractional":[53,165],"controller":[54,166],"designed.":[56,168],"localization":[58],"based":[63],"on":[64,113,179],"FastSLAM":[65],"algorithm.":[66],"Findings":[67],"Simulation":[68],"results":[69,87,120,186],"avoiding":[71],"using":[73],"traditional":[74],"Q-learning":[75,78],"algorithm,":[76],"FOQL":[81,92,109,175],"are":[83],"compared.":[84],"simulation":[86,106,172],"show":[88],"that":[89,122,188],"has":[94],"faster":[96],"learning":[97],"speed":[98],"than":[99],"other":[100],"two":[101],"algorithms.":[102],"verify":[104,170],"result,":[107,173],"implemented":[112,178],"NAO":[115,181],"experimental":[119,185],"demonstrate":[121,187],"obstacle":[128,194],"feasible":[132,198],"effective.":[134,200],"Originality/value":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
