{"id":"https://openalex.org/W1674276221","doi":"https://doi.org/10.1109/icinfa.2015.7279550","title":"The obstacle detection and obstacle avoidance algorithm based on 2-D lidar","display_name":"The obstacle detection and obstacle avoidance algorithm based on 2-D lidar","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1674276221","doi":"https://doi.org/10.1109/icinfa.2015.7279550","mag":"1674276221"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","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/A5100772740","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-1312-9527"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yan Peng","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070126956","display_name":"Dong Qu","orcid":"https://orcid.org/0009-0001-0960-7795"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Qu","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063001398","display_name":"Yuxuan Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Zhong","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086702173","display_name":"Shaorong Xie","orcid":"https://orcid.org/0000-0002-8016-9310"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaorong Xie","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003071055","display_name":"Jun Luo","orcid":"https://orcid.org/0000-0003-4475-2338"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Luo","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Dalhousie University, Halifax, NS, Canada","Department of Electrical & Computer Engineering, Dalhousie University, Halifax, NS, B3J2X4, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Dalhousie University, Halifax, NS, Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Dalhousie University, Halifax, NS, B3J2X4, Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100772740"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":null,"apc_paid":null,"fwci":2.4338,"has_fulltext":false,"cited_by_count":117,"citation_normalized_percentile":{"value":0.92506443,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1648","last_page":"1653"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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-avoidance","display_name":"Obstacle avoidance","score":0.9132299423217773},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8904548287391663},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6829814910888672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6490609049797058},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6299762725830078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5786295533180237},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5722480416297913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5151733160018921},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4568018615245819},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.44781211018562317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40634703636169434},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3469078838825226},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.1194862425327301},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09682992100715637},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06988048553466797}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.9132299423217773},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8904548287391663},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6829814910888672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6490609049797058},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6299762725830078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5786295533180237},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5722480416297913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5151733160018921},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4568018615245819},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.44781211018562317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40634703636169434},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3469078838825226},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.1194862425327301},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09682992100715637},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06988048553466797},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","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":16,"referenced_works":["https://openalex.org/W1984266349","https://openalex.org/W1993718093","https://openalex.org/W2001469632","https://openalex.org/W2014616611","https://openalex.org/W2103120971","https://openalex.org/W2108983759","https://openalex.org/W2115344791","https://openalex.org/W2115838335","https://openalex.org/W2141528408","https://openalex.org/W2141714763","https://openalex.org/W2153340051","https://openalex.org/W2157468226","https://openalex.org/W3143208592","https://openalex.org/W6676343371","https://openalex.org/W6677392417","https://openalex.org/W6681000549"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2930076404","https://openalex.org/W2739701376","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905"],"abstract_inverted_index":{"Obstacle":[0,25],"avoidance":[1,26,55,67,77,88,136],"ability":[2],"is":[3,34,42,96,155],"the":[4,8,13,17,37,52,73,100,108,116,125,152],"significant":[5],"embodiment":[6],"of":[7,16,62,75,102,121,127,140,151],"ground":[9,18],"mobile":[10,19],"robot,":[11],"and":[12,40,65,86,106,119,134,145],"basic":[14],"guarantee":[15],"robot":[20,122],"to":[21,98],"perform":[22],"various":[23],"tasks.":[24],"technologies":[27],"are":[28,68],"divided":[29],"into":[30],"two":[31,69],"kinds,":[32],"one":[33],"based":[35,43,57,90,123],"on":[36,44,58,91,124,157],"global":[38],"map":[39],"another":[41],"sensors":[45],"respectively.":[46],"This":[47,79],"paper":[48,80],"mainly":[49],"aims":[50],"at":[51],"local":[53],"obstacle":[54,63,66,76,84,87,132,135],"method":[56,95,114],"sensors.":[59],"The":[60,131,149],"study":[61],"detection":[64,85,133],"inseparable":[70],"parts":[71],"in":[72],"research":[74],"ability.":[78],"proposes":[81],"an":[82],"efficient":[83],"algorithm":[89,137,154],"2-D":[92],"lidar.":[93],"A":[94],"proposed":[97,153],"get":[99],"information":[101],"obstacles":[103],"by":[104],"filtering":[105],"clustering":[107],"laser-point":[109],"cloud":[110],"data.":[111],"Also,":[112],"this":[113],"generates":[115],"forward":[117],"angle":[118],"velocity":[120],"principle":[126],"minimum":[128],"cost":[129],"function.":[130],"has":[138],"advantages":[139],"a":[141],"simple":[142],"mathematical":[143],"model":[144],"good":[146],"real-time":[147],"performance.":[148],"effectiveness":[150],"verified":[156],"MATLAB":[158],"simulation":[159],"platform.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
