{"id":"https://openalex.org/W4312967649","doi":"https://doi.org/10.1109/icarm54641.2022.9959360","title":"Performance Comparison of Several Robot Visual Servo Path Planning Approaches","display_name":"Performance Comparison of Several Robot Visual Servo Path Planning Approaches","publication_year":2022,"publication_date":"2022-07-09","ids":{"openalex":"https://openalex.org/W4312967649","doi":"https://doi.org/10.1109/icarm54641.2022.9959360"},"language":"en","primary_location":{"id":"doi:10.1109/icarm54641.2022.9959360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959360","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5013618905","display_name":"Zesong Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zesong Wu","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013618905"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.06,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.32774847,"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":"818","last_page":"825"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7773184776306152},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7760937213897705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6690707206726074},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6384826898574829},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5929023027420044},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5785653591156006},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5397624969482422},{"id":"https://openalex.org/keywords/randomness","display_name":"Randomness","score":0.4963305592536926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45662131905555725},{"id":"https://openalex.org/keywords/convexity","display_name":"Convexity","score":0.45624369382858276},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.44085124135017395},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.4405033588409424},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.42257142066955566},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3276180922985077},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16326060891151428}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7773184776306152},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7760937213897705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6690707206726074},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6384826898574829},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5929023027420044},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5785653591156006},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5397624969482422},{"id":"https://openalex.org/C125112378","wikidata":"https://www.wikidata.org/wiki/Q176640","display_name":"Randomness","level":2,"score":0.4963305592536926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45662131905555725},{"id":"https://openalex.org/C72134830","wikidata":"https://www.wikidata.org/wiki/Q5166524","display_name":"Convexity","level":2,"score":0.45624369382858276},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.44085124135017395},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.4405033588409424},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.42257142066955566},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3276180922985077},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16326060891151428},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm54641.2022.9959360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959360","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W187586930","https://openalex.org/W1514444483","https://openalex.org/W1558111554","https://openalex.org/W1975100084","https://openalex.org/W1979026305","https://openalex.org/W1992989752","https://openalex.org/W2013439434","https://openalex.org/W2098658432","https://openalex.org/W2099512252","https://openalex.org/W2099743546","https://openalex.org/W2105085370","https://openalex.org/W2105597185","https://openalex.org/W2107609188","https://openalex.org/W2108472702","https://openalex.org/W2113286054","https://openalex.org/W2144812930","https://openalex.org/W2162429410","https://openalex.org/W2167532125","https://openalex.org/W2168947801","https://openalex.org/W2169422916","https://openalex.org/W2171877226","https://openalex.org/W2536620281","https://openalex.org/W2906146416","https://openalex.org/W2978213765","https://openalex.org/W3207774479","https://openalex.org/W3209305734","https://openalex.org/W4248304976","https://openalex.org/W6676165270"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W2126852585","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2367086100"],"abstract_inverted_index":{"Path":[0],"planning":[1,28],"is":[2],"essential":[3],"in":[4,37,65,79,141],"improving":[5],"performance":[6,98],"and":[7,34,41,77,89,104,123],"robustness":[8],"of":[9,22,58,72,91,119],"robot":[10,54],"visual":[11,25],"servo":[12,26],"controllers":[13],"under":[14,45],"real-world":[15],"constraints.":[16],"This":[17],"paper":[18],"compares":[19],"the":[20,80,117,120,124,137,145,152],"performances":[21],"three":[23],"major":[24],"path":[27,106,147,153],"approaches,":[29,36],"including":[30],"optimization-based,":[31],"potential":[32,133],"field-based,":[33],"sampling-based":[35,156],"which":[38,161],"both":[39],"image":[40],"camera":[42,64,81,105],"paths":[43],"are":[44,49,83,94],"consideration.":[46],"These":[47],"approaches":[48],"employed":[50],"to":[51,163],"a":[52,66,164],"collaborative":[53],"with":[55,61],"7":[56],"degrees":[57],"freedom":[59],"equipped":[60],"an":[62,113],"eye-in-hand":[63],"high-fidelity":[67],"simulation":[68],"platform,":[69],"where":[70],"field":[71],"view":[73],"constraints,":[74,76],"workspace":[75,82],"obstacles":[78],"considered":[84],"during":[85],"comparisons.":[86],"The":[87,108,132,155],"pros":[88],"cons":[90],"each":[92],"approach":[93,110,135,157],"clarified":[95],"by":[96],"analyzing":[97],"indices":[99],"such":[100],"as":[101],"computing":[102],"time":[103],"length.":[107,154],"optimization-based":[109],"can":[111],"generate":[112],"optimal":[114],"path,":[115],"but":[116,144],"convexity":[118],"optimization":[121],"problem":[122],"optimizer":[125],"for":[126],"solving":[127],"it":[128],"affect":[129],"computational":[130,139],"efficiency.":[131],"field-based":[134],"has":[136,158],"fastest":[138],"speed":[140],"complex":[142],"environments,":[143],"generated":[146],"may":[148],"oscillate,":[149],"dramatically":[150],"increasing":[151],"strong":[159],"randomness,":[160],"leads":[162],"most":[165],"irregular":[166],"path.":[167]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}