{"id":"https://openalex.org/W2211015568","doi":"https://doi.org/10.1109/aucc.2014.7358652","title":"Real-time obstacle-avoidance motion planning for autonomous mobile robots","display_name":"Real-time obstacle-avoidance motion planning for autonomous mobile robots","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2211015568","doi":"https://doi.org/10.1109/aucc.2014.7358652","mag":"2211015568"},"language":"en","primary_location":{"id":"doi:10.1109/aucc.2014.7358652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aucc.2014.7358652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 4th Australian Control Conference (AUCC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5004811086","display_name":"Kenneth Renny Simba","orcid":"https://orcid.org/0000-0003-1576-7311"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. R. Simba","raw_affiliation_strings":["Directorate of Nuclear Technology, Toyohashi University of Technology, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Directorate of Nuclear Technology, Toyohashi University of Technology, Aichi, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062939314","display_name":"Naoki Uchiyama","orcid":"https://orcid.org/0000-0003-3642-9944"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Uchiyama","raw_affiliation_strings":["Directorate of Nuclear Technology, Toyohashi University of Technology, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Directorate of Nuclear Technology, Toyohashi University of Technology, Aichi, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109836275","display_name":"S. Sano","orcid":null},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Sano","raw_affiliation_strings":["Department of Mechani-cal Engineering, Toyohashi University of Technology, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechani-cal Engineering, Toyohashi University of Technology, Aichi, Japan","institution_ids":["https://openalex.org/I136259955"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136259955"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"267","last_page":"272"},"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12290","display_name":"Human Motion and Animation","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.8482033014297485},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7809106111526489},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7726355195045471},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.770183801651001},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.7609363198280334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6994545459747314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5859299302101135},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.573114812374115},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5567638874053955},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5070497989654541},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4676154851913452},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45999467372894287},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41506901383399963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4094702899456024},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3365578055381775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15094149112701416},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.07795301079750061}],"concepts":[{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.8482033014297485},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7809106111526489},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7726355195045471},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.770183801651001},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.7609363198280334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6994545459747314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5859299302101135},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.573114812374115},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5567638874053955},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5070497989654541},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4676154851913452},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45999467372894287},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41506901383399963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4094702899456024},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3365578055381775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15094149112701416},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.07795301079750061},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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:10.1109/aucc.2014.7358652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aucc.2014.7358652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 4th Australian Control Conference (AUCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1554253665","https://openalex.org/W1601543771","https://openalex.org/W1985196743","https://openalex.org/W1998277076","https://openalex.org/W2006197264","https://openalex.org/W2022933073","https://openalex.org/W2070266976","https://openalex.org/W2070964078","https://openalex.org/W2071341150","https://openalex.org/W2076383834","https://openalex.org/W2088466366","https://openalex.org/W2108988793","https://openalex.org/W2115859260","https://openalex.org/W2118961780","https://openalex.org/W2121254772","https://openalex.org/W2129778150","https://openalex.org/W2130610946","https://openalex.org/W2145972539","https://openalex.org/W2162695884","https://openalex.org/W2168309003","https://openalex.org/W6633332469","https://openalex.org/W6677637463"],"related_works":["https://openalex.org/W1952149146","https://openalex.org/W3151316732","https://openalex.org/W2129752956","https://openalex.org/W972312834","https://openalex.org/W2131257292","https://openalex.org/W1811222665","https://openalex.org/W2965672371","https://openalex.org/W3047053826","https://openalex.org/W1923446372","https://openalex.org/W2150684344"],"abstract_inverted_index":{"This":[0],"article":[1],"focuses":[2],"on":[3,21],"generation":[4],"of":[5,38,91],"a":[6,43],"smooth":[7,60],"obstacle":[8],"avoidance":[9],"trajectory":[10],"for":[11,31,48,77],"wheeled":[12],"mobile":[13],"robots":[14],"in":[15],"real-time.":[16],"The":[17,65],"algorithm":[18,58,66],"is":[19,67],"based":[20],"visibility":[22,50],"graph":[23],"and":[24,61,70],"B\u00e9zier":[25],"curves":[26],"with":[27],"properties":[28],"ideally":[29],"suited":[30],"this":[32,39],"purpose.":[33],"To":[34],"increase":[35],"the":[36,89,92],"efficiency":[37],"algorithm,":[40],"we":[41],"introduced":[42],"simple":[44],"but":[45],"effective":[46],"method":[47],"constructing":[49],"graphs":[51],"by":[52],"ignoring":[53],"unnecessary":[54],"nodes.":[55],"Our":[56],"developed":[57],"generates":[59],"distance-optimal":[62],"motion":[63],"trajectories.":[64],"computationally":[68],"efficient":[69],"easy":[71],"to":[72],"implement":[73],"making":[74],"it":[75],"suitable":[76],"real-time":[78],"as":[79,81],"well":[80],"off-line":[82],"path":[83],"planning":[84],"applications.":[85],"Simulation":[86],"results":[87],"demonstrate":[88],"feasibility":[90],"proposed":[93],"method.":[94]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}