{"id":"https://openalex.org/W2153309142","doi":"https://doi.org/10.1109/coase.2007.4341722","title":"Trajectory Generation in Relative Velocity Coordinates Using Mixed Integer Linear Programming with IHDR Guidance","display_name":"Trajectory Generation in Relative Velocity Coordinates Using Mixed Integer Linear Programming with IHDR Guidance","publication_year":2007,"publication_date":"2007-09-01","ids":{"openalex":"https://openalex.org/W2153309142","doi":"https://doi.org/10.1109/coase.2007.4341722","mag":"2153309142"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2007.4341722","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341722","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","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/A5088138410","display_name":"Di Zu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Di Zu","raw_affiliation_strings":["Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109972455","display_name":"Dalong Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dalong Tan","raw_affiliation_strings":["Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy and Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5088138410"],"corresponding_institution_ids":["https://openalex.org/I142078773"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.17055952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1125","last_page":"1130"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9990000128746033,"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":0.9919000267982483,"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/trajectory","display_name":"Trajectory","score":0.759265661239624},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6523008942604065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6435111165046692},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5657631754875183},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.5531020164489746},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5371490120887756},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5170210599899292},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5077117681503296},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4927838146686554},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4842629134654999},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4796622097492218},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45013725757598877},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.44180822372436523},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.43920373916625977},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4296523332595825},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4125470519065857},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4104726314544678},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32841333746910095},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.31776875257492065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2862306237220764},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.2600856125354767},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07934871315956116}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.759265661239624},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6523008942604065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6435111165046692},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5657631754875183},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.5531020164489746},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5371490120887756},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5170210599899292},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5077117681503296},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4927838146686554},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4842629134654999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4796622097492218},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45013725757598877},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.44180822372436523},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.43920373916625977},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4296523332595825},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4125470519065857},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4104726314544678},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32841333746910095},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31776875257492065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2862306237220764},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2600856125354767},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07934871315956116},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/coase.2007.4341722","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341722","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1580535863","https://openalex.org/W1979915256","https://openalex.org/W2001912851","https://openalex.org/W2017714866","https://openalex.org/W2040952856","https://openalex.org/W2155164406","https://openalex.org/W6683131659"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3110652258","https://openalex.org/W2971758839"],"abstract_inverted_index":{"Mixed-integer":[0],"linear":[1],"programming":[2],"(MILP)":[3],"for":[4,34],"trajectory":[5,42,124],"generation":[6,43,125],"of":[7,44,55,64,73,86,95,134,150,176,183],"mobile":[8],"robot":[9,152],"suffers":[10],"from":[11],"nonlinear":[12,37],"constraints":[13,38],"due":[14],"to":[15,70,143],"complex":[16],"obstacle":[17,65],"contours":[18],"and":[19,48,119,147,166],"dynamic":[20],"environment.":[21],"In":[22],"this":[23],"paper,":[24],"firstly,":[25],"we":[26,99],"introduce":[27],"a":[28,110,123,130,174],"relative":[29],"velocity":[30],"coordinates":[31],"MILP":[32],"(RVCs-MILP)":[33],"solving":[35],"the":[36,41,45,56,62,71,74,84,87,92,135,139,144,148,151,162,181,184],"problem":[39],"in":[40,80,138,153,159,173],"target":[46],"pursuit":[47],"multiple-obstacle":[49],"avoidance":[50],"(TPMOA).":[51],"The":[52,168,178],"computational":[53],"load":[54],"RVCs-MILP":[57],"does":[58],"not":[59],"increase":[60],"with":[61,161],"complexity":[63],"contour":[66],"but":[67],"only":[68],"relates":[69],"number":[72,85,175],"obstacles.":[75],"It":[76,107],"can":[77],"be":[78],"applied":[79],"real":[81,154],"time":[82],"when":[83],"obstacles":[88,96],"is":[89],"small.":[90],"For":[91,122],"large":[93],"numbers":[94],"avoidance,":[97],"further,":[98],"propose":[100],"an":[101],"IHDR":[102,186],"based":[103],"online":[104,120],"learning":[105],"mechanism.":[106],"sets":[108],"up":[109],"\"scenario-action":[111],"mapping\"":[112],"knowledge":[113,140],"base":[114,141],"by":[115],"continuously":[116],"offline":[117],"training":[118],"updating.":[121],"task,":[126],"it":[127],"will":[128],"search":[129],"best":[131],"match":[132],"path":[133],"current":[136],"state":[137,149],"according":[142],"external":[145],"environments":[146],"time.":[155],"Simulations":[156],"are":[157],"presented":[158],"comparison":[160],"evolution":[163],"algorithms":[164],"(EA)":[165],"IHDR.":[167],"former":[169],"shows":[170],"significant":[171],"improvement":[172],"aspects.":[177],"latter":[179],"confirms":[180],"validation":[182],"proposed":[185],"methods.":[187]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
