{"id":"https://openalex.org/W3143340904","doi":"https://doi.org/10.1109/access.2021.3068988","title":"An Intelligent Hybrid Control to Enhance Applicability of Mobile Robots in Cluttered Environments","display_name":"An Intelligent Hybrid Control to Enhance Applicability of Mobile Robots in Cluttered Environments","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3143340904","doi":"https://doi.org/10.1109/access.2021.3068988","mag":"3143340904"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3068988","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3068988","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09387337.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/ielx7/6287639/9312710/09387337.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074440598","display_name":"Taimoor Zahid","orcid":"https://orcid.org/0000-0002-6910-9974"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taimoor Zahid","raw_affiliation_strings":["College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-6910-9974","affiliations":[{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016511127","display_name":"Zareena Kausar","orcid":"https://orcid.org/0000-0002-9157-6296"},"institutions":[{"id":"https://openalex.org/I899713450","display_name":"Air University","ror":"https://ror.org/03yfe9v83","country_code":"PK","type":"education","lineage":["https://openalex.org/I899713450"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Zareena Kausar","raw_affiliation_strings":["Department of Mechatronics and Biomedical Engineering, Air University, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Biomedical Engineering, Air University, Islamabad, Pakistan","institution_ids":["https://openalex.org/I899713450"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003983375","display_name":"Muhammad Faizan Shah","orcid":"https://orcid.org/0000-0001-8558-0208"},"institutions":[{"id":"https://openalex.org/I4210102737","display_name":"Khwaja Fareed University of Engineering and Information Technology","ror":"https://ror.org/0161dyt30","country_code":"PK","type":"education","lineage":["https://openalex.org/I4210102737"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Faizan Shah","raw_affiliation_strings":["Department of Mechanical Engineering, Khawaja Fareed University of Engineering and Information Technology, Rahim Yar Khan, Pakistan"],"raw_orcid":"https://orcid.org/0000-0001-8558-0208","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khawaja Fareed University of Engineering and Information Technology, Rahim Yar Khan, Pakistan","institution_ids":["https://openalex.org/I4210102737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074323888","display_name":"Muhammad Saeed","orcid":"https://orcid.org/0000-0001-8884-2437"},"institutions":[{"id":"https://openalex.org/I899713450","display_name":"Air University","ror":"https://ror.org/03yfe9v83","country_code":"PK","type":"education","lineage":["https://openalex.org/I899713450"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Tallal Saeed","raw_affiliation_strings":["Department of Mechatronics and Biomedical Engineering, Air University, Islamabad, Pakistan"],"raw_orcid":"https://orcid.org/0000-0001-8884-2437","affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Biomedical Engineering, Air University, Islamabad, Pakistan","institution_ids":["https://openalex.org/I899713450"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065058501","display_name":"Jianfei Pan","orcid":"https://orcid.org/0000-0002-3665-6672"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfei Pan","raw_affiliation_strings":["College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3665-6672","affiliations":[{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"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":0.5653,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.66532733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"50151","last_page":"50162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9994000196456909,"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":0.9975000023841858,"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/mobile-robot","display_name":"Mobile robot","score":0.7491556406021118},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.696999192237854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6005656719207764},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44830596446990967},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4479116201400757},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4335884153842926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4020633101463318}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7491556406021118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.696999192237854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6005656719207764},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44830596446990967},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4479116201400757},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4335884153842926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4020633101463318}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3068988","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3068988","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09387337.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:84dcc01222d246209850239846d6216a","is_oa":true,"landing_page_url":"https://doaj.org/article/84dcc01222d246209850239846d6216a","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 50151-50162 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3068988","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3068988","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09387337.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":[],"awards":[{"id":"https://openalex.org/G5136657420","display_name":null,"funder_award_id":"2019M653038","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5298296990","display_name":null,"funder_award_id":"U1913214","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/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3143340904.pdf","grobid_xml":"https://content.openalex.org/works/W3143340904.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W4358642","https://openalex.org/W29624342","https://openalex.org/W101508493","https://openalex.org/W230730723","https://openalex.org/W1519405745","https://openalex.org/W1586465400","https://openalex.org/W1777783943","https://openalex.org/W1965440866","https://openalex.org/W2099916226","https://openalex.org/W2101938656","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2110815715","https://openalex.org/W2116966230","https://openalex.org/W2142991647","https://openalex.org/W2151299975","https://openalex.org/W2154522324","https://openalex.org/W2168826432","https://openalex.org/W2205716527","https://openalex.org/W2314874006","https://openalex.org/W2337849407","https://openalex.org/W2484646121","https://openalex.org/W2515797449","https://openalex.org/W2593792304","https://openalex.org/W2598708258","https://openalex.org/W2608366213","https://openalex.org/W2781953456","https://openalex.org/W2789771046","https://openalex.org/W2883180136","https://openalex.org/W2885155708","https://openalex.org/W2894274215","https://openalex.org/W2901768878","https://openalex.org/W2940265767","https://openalex.org/W2942307437","https://openalex.org/W2949623849","https://openalex.org/W3017355237","https://openalex.org/W4285719527","https://openalex.org/W6634746173","https://openalex.org/W6675034413","https://openalex.org/W6688069792","https://openalex.org/W6699270047","https://openalex.org/W6703846585","https://openalex.org/W7066177329"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762"],"abstract_inverted_index":{"Trajectory":[0],"planning":[1],"and":[2,53,97,192,206,231,248],"tracking":[3,141],"are":[4,128,180,204],"the":[5,27,48,68,72,75,84,120,132,140,157,163,171,175,186,190,196,202,209,214,218,223,251,257,275,279,291,295],"most":[6],"important":[7],"aspects":[8],"of":[9,29,153,156,185,195,201,217,222,238,250,287,297],"mobile":[10,30,69,298],"robot":[11,103,197,203],"research":[12],"for":[13,101,139,235],"industrial":[14],"application.":[15],"In":[16],"this":[17],"research,":[18],"an":[19,106],"intelligent":[20,89],"hybrid":[21,41,225],"control":[22,39,114,142,277],"is":[23,40,93,116,168,227],"presented":[24],"to":[25,64,95,118,212],"enhance":[26],"usability":[28,296],"robots":[31,299],"in":[32,42,105,208,229,232,267,270,300],"environments":[33,242,273,301],"cluttered":[34,239,272,302],"with":[35,108,123,160,170,244,282,303],"static":[36,304],"obstacles.":[37,110,252],"The":[38,56,111,144,165,199,220,241,253],"two":[43],"ways.":[44],"On":[45,71],"one":[46,182],"hand,":[47,74],"algorithm":[49,76,115],"combines":[50],"obstacles":[51,161,210],"avoidance":[52],"trajectory":[54,58,80,100,122,134,138,150,263,281],"generation.":[55],"generated":[57,85,121,133,188],"acts":[59],"as":[60],"a":[61,99,136,148,154,261,283],"reference":[62,137,280],"path":[63],"be":[65],"followed":[66],"by":[67],"robot.":[70,219],"other":[73],"not":[77],"only":[78],"generates":[79,147,260],"but":[81],"also":[82],"tracks":[83,278],"trajectory.":[86],"An":[87],"optimization-based":[88],"algorithm,":[90],"simulated":[91,145,258],"annealing,":[92],"designed":[94,117],"plan":[96],"generate":[98],"collision-free":[102,262],"motion":[104],"environment":[107],"stationary":[109],"PID":[112,276],"(Proportional-Integral-Derivative)":[113],"track":[119],"minimum":[124],"error.":[125],"Both":[126],"algorithms":[127],"hybridized":[129],"such":[130],"that":[131,151,256],"becomes":[135],"algorithm.":[143],"annealing":[146,259],"realistic":[149],"consists":[152],"series":[155],"best":[158,166],"points":[159,179],"on":[162],"path.":[164],"point":[167,194],"selected":[169,181],"shortest":[172],"distance":[173],"from":[174,183],"robot's":[176],"destination.":[177],"These":[178],"each":[184],"grids,":[187],"between":[189],"start":[191],"destination":[193],"motion.":[198],"dimensions":[200],"considered":[205],"included":[207],"dimension":[211,215],"reduce":[213],"complexity":[216],"effectiveness":[221],"proposed":[224,292],"technique":[226],"tested":[228],"simulation":[230],"real-time":[233],"experiments":[234],"seven":[236],"types":[237],"environments.":[240],"vary":[243],"size,":[245],"shape,":[246],"placement":[247],"arrangement":[249],"results":[254],"show":[255],"intelligently":[264],"without":[265],"trapping":[266],"local":[268],"minima":[269],"these":[271],"while":[274],"maximum":[284],"absolute":[285],"error":[286],"0.2":[288],"mm.":[289],"Hence,":[290],"method":[293],"enhances":[294],"objects.":[305]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}