{"id":"https://openalex.org/W3215434889","doi":"https://doi.org/10.1109/etfa45728.2021.9613217","title":"A fast constructive path planning algorithm for mobile robot navigation","display_name":"A fast constructive path planning algorithm for mobile robot navigation","publication_year":2021,"publication_date":"2021-09-07","ids":{"openalex":"https://openalex.org/W3215434889","doi":"https://doi.org/10.1109/etfa45728.2021.9613217","mag":"3215434889"},"language":"en","primary_location":{"id":"doi:10.1109/etfa45728.2021.9613217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa45728.2021.9613217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","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/A5034881721","display_name":"Abderraouf Maoudj","orcid":"https://orcid.org/0000-0002-4058-2506"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Abderraouf Maoudj","raw_affiliation_strings":["Biorobotics, MMMI, University of Southern Denmark (SDU), Odense, Denmark"],"affiliations":[{"raw_affiliation_string":"Biorobotics, MMMI, University of Southern Denmark (SDU), Odense, Denmark","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066104845","display_name":"Abdelfetah Hentout","orcid":"https://orcid.org/0000-0003-3851-7745"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Abdelfetah Hentout","raw_affiliation_strings":["Centre for Development of Advanced Technologies (CDTA), Division of Robotics and Industrial Automation (DPR), Baba Hassen, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Centre for Development of Advanced Technologies (CDTA), Division of Robotics and Industrial Automation (DPR), Baba Hassen, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079247576","display_name":"Anders Lyhne Christensen","orcid":"https://orcid.org/0000-0002-9994-2908"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Anders Lyhne Christensen","raw_affiliation_strings":["Biorobotics, MMMI, University of Southern Denmark (SDU), Odense, Denmark"],"affiliations":[{"raw_affiliation_string":"Biorobotics, MMMI, University of Southern Denmark (SDU), Odense, Denmark","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077303520","display_name":"Ahmed Kouider","orcid":"https://orcid.org/0000-0003-2057-0556"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Ahmed Kouider","raw_affiliation_strings":["Centre for Development of Advanced Technologies (CDTA), Division of Robotics and Industrial Automation (DPR), Baba Hassen, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Centre for Development of Advanced Technologies (CDTA), Division of Robotics and Industrial Automation (DPR), Baba Hassen, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034881721"],"corresponding_institution_ids":["https://openalex.org/I177969490"],"apc_list":null,"apc_paid":null,"fwci":0.1921,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50712418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"23","issue":null,"first_page":"1","last_page":"8"},"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":0.9904999732971191,"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":0.9850999712944031,"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/motion-planning","display_name":"Motion planning","score":0.7159519791603088},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6927552223205566},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6151444911956787},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.6121407747268677},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6051971912384033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5417881608009338},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5323344469070435},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5069223046302795},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5034534335136414},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5007052421569824},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.43548932671546936},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4315895736217499},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4252597689628601},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29101353883743286},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20431292057037354}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7159519791603088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6927552223205566},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6151444911956787},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6121407747268677},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6051971912384033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5417881608009338},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5323344469070435},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5069223046302795},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5034534335136414},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5007052421569824},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.43548932671546936},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4315895736217499},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4252597689628601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29101353883743286},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20431292057037354},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/etfa45728.2021.9613217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa45728.2021.9613217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/79eb84d8-04d2-4331-be9b-2e9164102e70","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/79eb84d8-04d2-4331-be9b-2e9164102e70","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Maoudj, A, Hentout, A, Christensen, A & Kouider, A 2021, A fast constructive path planning algorithm for mobile robot navigation. in 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ). IEEE, pp. 1-8, 26th IEEE International Conference on Emerging Technologies and Factory Automation, Vasteras, Sweden, 07/09/2021. https://doi.org/10.1109/etfa45728.2021.9613217","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G7091289630","display_name":null,"funder_award_id":"0136-00251B","funder_id":"https://openalex.org/F4320322928","funder_display_name":"Danmarks Frie Forskningsfond"}],"funders":[{"id":"https://openalex.org/F4320322928","display_name":"Danmarks Frie Forskningsfond","ror":"https://ror.org/02sptwz63"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W571818863","https://openalex.org/W1516027685","https://openalex.org/W1638373997","https://openalex.org/W1971086298","https://openalex.org/W1993262167","https://openalex.org/W2023917723","https://openalex.org/W2124058244","https://openalex.org/W2127617835","https://openalex.org/W2145602088","https://openalex.org/W2160775223","https://openalex.org/W2341882575","https://openalex.org/W2417637069","https://openalex.org/W2523202702","https://openalex.org/W2563320938","https://openalex.org/W2740613227","https://openalex.org/W2770649262","https://openalex.org/W2887439418","https://openalex.org/W2898902608","https://openalex.org/W2911283711","https://openalex.org/W2917089854","https://openalex.org/W2938380935","https://openalex.org/W2942307437","https://openalex.org/W3090270894","https://openalex.org/W3092927864","https://openalex.org/W3127672035","https://openalex.org/W3128728956","https://openalex.org/W6636948731"],"related_works":["https://openalex.org/W4400246438","https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W4391479943","https://openalex.org/W1997369033","https://openalex.org/W2914610299"],"abstract_inverted_index":{"Path":[0],"planning":[1,204],"is":[2,20,39,162,187,198,213],"a":[3,108,137],"vitally":[4],"important":[5],"ability":[6],"for":[7,114,136],"autonomous":[8],"mobile":[9],"robots.":[10],"Because":[11],"of":[12,89,184,222],"the":[13,17,24,31,34,134,142,147,151,156,165,170,175,179,185,210],"high":[14],"computational":[15,98,122],"complexity,":[16],"optimal":[18],"solution":[19],"generally":[21],"infeasible":[22],"since":[23],"required":[25],"computation":[26,226],"time":[27],"increases":[28],"exponentially":[29],"with":[30,146,192,200],"increase":[32],"in":[33,61,77,92,178,220],"problem":[35],"size.":[36],"Instead,":[37],"it":[38],"common":[40],"to":[41,48,69,74,124,155,163,173],"rely":[42],"on":[43,141,189],"heuristic":[44,53],"and":[45,58,72,100,195,215,225],"meta-heuristic":[46,82],"algorithms":[47,54,83,219],"find":[49],"near-optimal":[50],"solutions.":[51],"Although":[52],"have":[55],"proven":[56],"effective":[57],"computationally":[59],"inexpensive":[60],"small":[62],"workspaces,":[63],"they":[64,94],"do":[65],"not":[66],"always":[67],"scale":[68],"large":[70],"environments":[71],"tend":[73],"get":[75],"trapped":[76],"local":[78],"minima.":[79],"Also,":[80],"while":[81],"are":[84,101],"attracting":[85],"considerable":[86],"attention":[87],"because":[88],"their":[90],"effectiveness":[91,183],"optimization,":[93],"still":[95],"require":[96],"significant":[97],"resources":[99,123],"non-deterministic.":[102],"In":[103],"this":[104],"paper,":[105],"we":[106],"introduce":[107],"novel":[109],"Fast":[110],"Constructive":[111],"Algorithm":[112],"(FCA)":[113],"deterministic":[115],"path":[116,138,166,203,223],"optimization":[117],"that":[118,144,209],"requires":[119],"comparatively":[120],"few":[121],"generate":[125],"an":[126],"optimized":[127],"path.":[128,181],"Our":[129,206],"proposed":[130,211],"FCA":[131,186,212],"efficiently":[132],"generates":[133],"waypoints":[135],"based":[139],"only":[140],"obstacles":[143],"intersect":[145],"straight-line":[148],"segment":[149],"linking":[150],"robot's":[152,180],"current":[153],"position":[154],"target":[157],"location.":[158],"The":[159,182],"key":[160],"idea":[161],"construct":[164],"by":[167],"iteratively":[168],"calculating":[169],"best":[171],"waypoint":[172],"avoid":[174],"next":[176],"obstacle":[177],"assessed":[188],"several":[190],"maps":[191],"distinct":[193],"complexities":[194],"its":[196],"performance":[197],"compared":[199],"different":[201],"state-of-the-art":[202],"algorithms.":[205],"results":[207],"show":[208],"competitive":[214],"can":[216],"outperform":[217],"existing":[218],"terms":[221],"length":[224],"time.":[227]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}