{"id":"https://openalex.org/W2997533236","doi":"https://doi.org/10.1109/access.2019.2962074","title":"A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control","display_name":"A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control","publication_year":2019,"publication_date":"2019-12-25","ids":{"openalex":"https://openalex.org/W2997533236","doi":"https://doi.org/10.1109/access.2019.2962074","mag":"2997533236"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2962074","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2962074","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941075.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941075.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100607719","display_name":"Jian Guo","orcid":"https://orcid.org/0000-0002-3722-6578"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Guo","raw_affiliation_strings":["Tianjin Key Laboratory for Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3722-6578","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chunying Li","orcid":"https://orcid.org/0000-0002-0567-4093"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunying Li","raw_affiliation_strings":["Tianjin Key Laboratory for Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0567-4093","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":null,"display_name":"Shuxiang Guo","orcid":"https://orcid.org/0000-0001-5984-6746"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]},{"id":"https://openalex.org/I201933988","display_name":"Kagawa University","ror":"https://ror.org/04j7mzp05","country_code":"JP","type":"education","lineage":["https://openalex.org/I201933988"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shuxiang Guo","raw_affiliation_strings":["Department of Intelligent Mechanical Systems Engineering, Faculty of Engineering, Kagawa University, Takamatsu, Japan","School of Life Science, Key Laboratory of Convergence Medical Engineering System and Healthcare Technologky, the Ministry of Industry and Information Technology, The Institute of Advanced Biomedical Engineering System, Beijing Institute of Technology, Beijing, China","Tianjin Key Laboratory for Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5984-6746","affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems Engineering, Faculty of Engineering, Kagawa University, Takamatsu, Japan","institution_ids":["https://openalex.org/I201933988"]},{"raw_affiliation_string":"School of Life Science, Key Laboratory of Convergence Medical Engineering System and Healthcare Technologky, the Ministry of Industry and Information Technology, The Institute of Advanced Biomedical Engineering System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.1833,"has_fulltext":true,"cited_by_count":65,"citation_normalized_percentile":{"value":0.92972857,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"1394","last_page":"1405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9927999973297119,"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":0.9927999973297119,"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":0.9758999943733215,"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9488999843597412,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8311096429824829},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.8303333520889282},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6400487422943115},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6112140417098999},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5786516666412354},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5542042255401611},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5400034189224243},{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.4897947311401367},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48719948530197144},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41519659757614136},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3325313627719879},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3300316333770752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2824441194534302},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22523748874664307}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8311096429824829},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8303333520889282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6400487422943115},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6112140417098999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5786516666412354},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5542042255401611},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5400034189224243},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.4897947311401367},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48719948530197144},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41519659757614136},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3325313627719879},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3300316333770752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2824441194534302},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22523748874664307},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":2,"locations":[{"id":"doi:10.1109/access.2019.2962074","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2962074","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941075.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:fafa2c74484247a88ec3180eef86ddf3","is_oa":false,"landing_page_url":"https://doaj.org/article/fafa2c74484247a88ec3180eef86ddf3","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 1394-1405 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2962074","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2962074","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941075.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1548330526","display_name":null,"funder_award_id":"18JCZDJC38500","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G462859647","display_name":null,"funder_award_id":"18PTZWHZ00090","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G5213294160","display_name":"\u5177\u6709\u529b\u53cd\u9988\u7684\u65b0\u578b\u8840\u7ba1\u4ecb\u5165\u624b\u672f\u673a\u5668\u4eba\u64cd\u4f5c\u5b89\u5168\u6027\u9884\u8b66\u673a\u5236\u7814\u7a76","funder_award_id":"61703305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2997533236.pdf","grobid_xml":"https://content.openalex.org/works/W2997533236.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W745204915","https://openalex.org/W2017294598","https://openalex.org/W2071345726","https://openalex.org/W2168953036","https://openalex.org/W2294666031","https://openalex.org/W2396810589","https://openalex.org/W2402339929","https://openalex.org/W2472114286","https://openalex.org/W2491043831","https://openalex.org/W2524886531","https://openalex.org/W2542904398","https://openalex.org/W2563320938","https://openalex.org/W2572831656","https://openalex.org/W2613638666","https://openalex.org/W2618177202","https://openalex.org/W2766175108","https://openalex.org/W2775752863","https://openalex.org/W2788235625","https://openalex.org/W3099932909","https://openalex.org/W6723312378","https://openalex.org/W6731951797","https://openalex.org/W6785536184"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,11,83],"improve":[3],"the":[4,7,37,41,45,50,69,76,84,107,118,123,131,136],"ability":[5],"of":[6,40,49,87,99,135],"spherical":[8,42,70,88,119],"mobile":[9,43,71,89,120],"robot":[10,72,90,121],"navigate":[12],"and":[13,47,61,94,101,133],"move":[14],"autonomously":[15],"in":[16,91],"an":[17],"unknown":[18,92],"environment.":[19],"This":[20],"paper":[21],"proposed":[22,77,137],"a":[23,65,97],"novel":[24,138],"step":[25,108],"optimal":[26,109],"path":[27,85,124,139],"planning":[28,86,140],"method":[29,80,110],"based":[30,111],"on":[31,112],"fuzzy":[32,66,78,113],"control.":[33],"Firstly,":[34],"by":[35,96],"analyzing":[36],"motion":[38],"model":[39],"robot,":[44],"arrangement":[46],"debugging":[48],"ultrasonic":[51],"sensors":[52],"(HC-SR04)":[53],"were":[54],"completed.":[55],"Then,":[56],"through":[57],"multi-sensor":[58],"fusion":[59],"technology":[60],"D-H":[62],"parameter":[63],"method,":[64],"controller":[67],"for":[68],"was":[73,81],"designed.":[74],"Finally,":[75],"control":[79,114],"applied":[82],"environment,":[93],"tested":[95],"series":[98],"simulations":[100],"experiments.":[102],"The":[103,126],"results":[104,128],"showed":[105],"that":[106,117],"could":[115],"ensure":[116],"completed":[122],"planning.":[125],"experimental":[127],"also":[129],"verified":[130],"effectiveness":[132],"practicability":[134],"method.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}