{"id":"https://openalex.org/W2123508872","doi":"https://doi.org/10.1109/cira.2003.1222270","title":"A low cost path planer in unknown environments for autonomous mobile robots","display_name":"A low cost path planer in unknown environments for autonomous mobile robots","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W2123508872","doi":"https://doi.org/10.1109/cira.2003.1222270","mag":"2123508872"},"language":"en","primary_location":{"id":"doi:10.1109/cira.2003.1222270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","raw_type":"proceedings-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/A5111608731","display_name":"A.M. Hussein","orcid":null},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"A.M. Hussein","raw_affiliation_strings":["Department or Computer Science, University of Sharjah, Sharjah, UAE","Dept. of Comput. Sci., Univ. of Sharjah, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Department or Computer Science, University of Sharjah, Sharjah, UAE","institution_ids":["https://openalex.org/I29891158"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I29891158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069884464","display_name":"Ashraf Elnagar","orcid":"https://orcid.org/0000-0003-2265-7268"},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"A. Elnagar","raw_affiliation_strings":["Department or Computer Science, University of Sharjah, Sharjah, UAE","Dept. of Comput. Sci., Univ. of Sharjah, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Department or Computer Science, University of Sharjah, Sharjah, UAE","institution_ids":["https://openalex.org/I29891158"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I29891158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111608731"],"corresponding_institution_ids":["https://openalex.org/I29891158"],"apc_list":null,"apc_paid":null,"fwci":0.2733,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.61426736,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"724","last_page":"728"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9948999881744385,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9936000108718872,"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/obstacle","display_name":"Obstacle","score":0.7951527833938599},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.7581290602684021},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7419936060905457},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6693016886711121},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6572834849357605},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6394526958465576},{"id":"https://openalex.org/keywords/joins","display_name":"Joins","score":0.621010422706604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6145234704017639},{"id":"https://openalex.org/keywords/start-point","display_name":"Start point","score":0.556962788105011},{"id":"https://openalex.org/keywords/point-to-point","display_name":"Point-to-point","score":0.5374001264572144},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5117208957672119},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5077987313270569},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4826996326446533},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.42454758286476135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3444574475288391},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23813503980636597},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06563737988471985}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7951527833938599},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.7581290602684021},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7419936060905457},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6693016886711121},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6572834849357605},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6394526958465576},{"id":"https://openalex.org/C2778692605","wikidata":"https://www.wikidata.org/wiki/Q4041866","display_name":"Joins","level":2,"score":0.621010422706604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6145234704017639},{"id":"https://openalex.org/C2779859299","wikidata":"https://www.wikidata.org/wiki/Q7602527","display_name":"Start point","level":3,"score":0.556962788105011},{"id":"https://openalex.org/C174440990","wikidata":"https://www.wikidata.org/wiki/Q681349","display_name":"Point-to-point","level":2,"score":0.5374001264572144},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5117208957672119},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5077987313270569},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4826996326446533},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.42454758286476135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3444574475288391},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23813503980636597},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06563737988471985},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cira.2003.1222270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","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":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1516027685","https://openalex.org/W1965244358","https://openalex.org/W1969519268","https://openalex.org/W2001804342","https://openalex.org/W2043528001","https://openalex.org/W2051626883","https://openalex.org/W2077091230","https://openalex.org/W2100498244","https://openalex.org/W2103120971","https://openalex.org/W2113778071","https://openalex.org/W2129209579","https://openalex.org/W2130853184","https://openalex.org/W2140581373","https://openalex.org/W2154722715","https://openalex.org/W2160352419","https://openalex.org/W2163178194","https://openalex.org/W2170220350","https://openalex.org/W4242811155","https://openalex.org/W4247582681","https://openalex.org/W6630827198","https://openalex.org/W6642570060","https://openalex.org/W6669904750"],"related_works":["https://openalex.org/W2368019753","https://openalex.org/W2333930193","https://openalex.org/W2737356002","https://openalex.org/W2246241526","https://openalex.org/W4301122218","https://openalex.org/W2374150061","https://openalex.org/W2081340182","https://openalex.org/W2369703001","https://openalex.org/W2372323577","https://openalex.org/W2088925915"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,12,45,77,86],"new":[4],"motion":[5],"planning":[6],"algorithm":[7,16,43,106,131],"for":[8],"mobile":[9],"robot":[10,24,62],"in":[11,116],"local":[13,110],"environment.":[14],"The":[15,104,129],"uses":[17],"the":[18,23,26,30,34,42,51,57,61,65,69,82,90,94,97,101,109,126,150,157,160,163],"step-by-step":[19],"approach":[20],"to":[21,47,64,85,134,149],"move":[22],"along":[25],"line":[27],"that":[28,55,67],"joins":[29],"starting":[31],"point":[32,49,59,66,74,88],"and":[33,96,121,141,159],"goal":[35,102],"point.":[36,103],"When":[37],"an":[38],"obstacle":[39,73],"is":[40,75,89,114,132,146],"met":[41],"assigns":[44],"value":[46,83],"each":[48],"of":[50,93,138,162],"eight":[52],"surrounding":[53],"points":[54],"surround":[56],"current":[58],"then":[60],"moves":[63],"has":[68],"minimum":[70],"value.":[71],"Each":[72],"assigned":[76,84],"relatively":[78],"large":[79],"value,":[80],"while":[81],"non-obstacle":[87],"algebraic":[91],"sum":[92],"horizontal":[95],"vertical":[98],"distances":[99],"from":[100],"proposed":[105,130,164],"completely":[107],"eliminates":[108,125],"minima":[111],"problem,":[112],"which":[113],"exhibited":[115],"most":[117,122],"artificial":[118],"potential":[119,161],"methods,":[120],"important":[123],"it":[124],"\"flat-regions\"":[127],"problem.":[128],"superior":[133,148],"other":[135],"algorithms":[136],"because":[137],"its":[139,142],"simplicity":[140],"low-computational":[143],"cost.":[144],"It":[145],"also":[147],"blind":[151],"follow":[152],"algorithms.":[153],"Simulation":[154],"results":[155],"reflects":[156],"validity":[158],"algorithm.":[165]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}