{"id":"https://openalex.org/W3037205490","doi":"https://doi.org/10.1109/dessert50317.2020.9125019","title":"Obstacle Avoidance Algorithm for Small Autonomous Mobile Robot Equipped with Ultrasonic Sensors","display_name":"Obstacle Avoidance Algorithm for Small Autonomous Mobile Robot Equipped with Ultrasonic Sensors","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3037205490","doi":"https://doi.org/10.1109/dessert50317.2020.9125019","mag":"3037205490"},"language":"en","primary_location":{"id":"doi:10.1109/dessert50317.2020.9125019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dessert50317.2020.9125019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 11th International Conference on Dependable Systems, Services and Technologies (DESSERT)","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/A5039966501","display_name":"Maryna Derkach","orcid":"https://orcid.org/0000-0001-8977-2776"},"institutions":[{"id":"https://openalex.org/I147254383","display_name":"Volodymyr Dahl East Ukrainian National University","ror":"https://ror.org/03arvq761","country_code":"UA","type":"education","lineage":["https://openalex.org/I147254383"]}],"countries":["UA"],"is_corresponding":true,"raw_author_name":"Maryna Derkach","raw_affiliation_strings":["Computer Science and Engineering Department, V. Dahl East Ukrainian National University, Severodonetsk, Ukraine"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, V. Dahl East Ukrainian National University, Severodonetsk, Ukraine","institution_ids":["https://openalex.org/I147254383"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004869650","display_name":"Danylo Matiuk","orcid":null},"institutions":[{"id":"https://openalex.org/I147254383","display_name":"Volodymyr Dahl East Ukrainian National University","ror":"https://ror.org/03arvq761","country_code":"UA","type":"education","lineage":["https://openalex.org/I147254383"]}],"countries":["UA"],"is_corresponding":false,"raw_author_name":"Danylo Matiuk","raw_affiliation_strings":["Computer Science and Engineering Department, V. Dahl East Ukrainian National University, Severodonetsk, Ukraine"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, V. Dahl East Ukrainian National University, Severodonetsk, Ukraine","institution_ids":["https://openalex.org/I147254383"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068827483","display_name":"Inna Skarga-Bandurova","orcid":"https://orcid.org/0000-0003-3458-8730"},"institutions":[{"id":"https://openalex.org/I124261462","display_name":"Oxford Brookes University","ror":"https://ror.org/04v2twj65","country_code":"GB","type":"education","lineage":["https://openalex.org/I124261462"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Inna Skarga-Bandurova","raw_affiliation_strings":["School of Engineering, Computing and Mathematics, Oxford Brookes University, Oxford, UK"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Computing and Mathematics, Oxford Brookes University, Oxford, UK","institution_ids":["https://openalex.org/I124261462"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039966501"],"corresponding_institution_ids":["https://openalex.org/I147254383"],"apc_list":null,"apc_paid":null,"fwci":0.977,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.78004638,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"236","last_page":"241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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/T13062","display_name":"Cognitive Computing and Networks","score":0.9696999788284302,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13935","display_name":"Mathematical Control Systems and Analysis","score":0.9660000205039978,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/mobile-robot","display_name":"Mobile robot","score":0.8103896975517273},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.809833824634552},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.6873740553855896},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6865320205688477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6375960111618042},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5571319460868835},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.5470890998840332},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5428367853164673},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.47428661584854126},{"id":"https://openalex.org/keywords/autonomous-robot","display_name":"Autonomous robot","score":0.437186062335968},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.43205520510673523},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4227932095527649},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4201244115829468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3900451362133026},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35804569721221924},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.18377581238746643},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.07560938596725464}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8103896975517273},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.809833824634552},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.6873740553855896},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6865320205688477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6375960111618042},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5571319460868835},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.5470890998840332},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5428367853164673},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.47428661584854126},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.437186062335968},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.43205520510673523},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4227932095527649},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4201244115829468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3900451362133026},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35804569721221924},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.18377581238746643},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.07560938596725464},{"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/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/dessert50317.2020.9125019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dessert50317.2020.9125019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 11th International Conference on Dependable Systems, Services and Technologies (DESSERT)","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":15,"referenced_works":["https://openalex.org/W1603631609","https://openalex.org/W2039240409","https://openalex.org/W2102148524","https://openalex.org/W2517805037","https://openalex.org/W2565159641","https://openalex.org/W2589335312","https://openalex.org/W2610163782","https://openalex.org/W2754869098","https://openalex.org/W2761992348","https://openalex.org/W2765512418","https://openalex.org/W2775013115","https://openalex.org/W2893247349","https://openalex.org/W4307015301","https://openalex.org/W6731215958","https://openalex.org/W6745286532"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2357323510","https://openalex.org/W4366961261"],"abstract_inverted_index":{"Detection":[0],"and":[1,44,102,115],"avoiding":[2],"obstacles":[3,67],"in":[4,106],"real":[5,26],"time":[6,27],"is":[7],"an":[8],"important":[9],"design":[10],"requirement":[11],"for":[12,25],"any":[13],"autonomous":[14,37],"mobile":[15,38],"platforms.":[16],"In":[17],"this":[18],"paper":[19],"we":[20],"propose":[21],"a":[22,35,42,48,82],"new":[23],"algorithm":[24],"obstacle":[28,107],"avoidance.":[29],"To":[30],"improve":[31],"the":[32,58,62,72,76,86,92,98,104],"localization":[33,101],"of":[34,57,78,85,112],"small":[36],"robot":[39,63],"equipped":[40],"with":[41,109],"microcontroller":[43],"four":[45],"ultrasonic":[46],"sensors,":[47],"linear":[49],"recursive":[50],"Kalman":[51,59],"filter":[52,60],"was":[53],"used.":[54],"The":[55],"application":[56],"enables":[61,95],"to":[64,96],"avoid":[65],"additional":[66],"when":[68],"transferring":[69],"data":[70],"from":[71],"sensor,":[73],"adaptively":[74],"adjust":[75],"intensity":[77],"noise,":[79],"which":[80],"ensures":[81],"smoother":[83],"movement":[84],"robot.":[87],"Simulation":[88],"results":[89],"show":[90],"that":[91],"developed":[93],"approach":[94],"obtain":[97],"adequate":[99],"realtime":[100],"demonstrate":[103],"efficiency":[105],"avoidance":[108],"resulting":[110],"RMSE":[111],"4.15":[113],"s":[114],"0.07":[116],"m.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
