{"id":"https://openalex.org/W1652860543","doi":"https://doi.org/10.1109/icinfa.2015.7279715","title":"Trajectory planning for RoboCup MSL mobile robots based on B\u00e9zier curve and Voronoi diagram","display_name":"Trajectory planning for RoboCup MSL mobile robots based on B\u00e9zier curve and Voronoi diagram","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1652860543","doi":"https://doi.org/10.1109/icinfa.2015.7279715","mag":"1652860543"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279715","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/A5102439800","display_name":"Xianglin Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianglin Yang","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN","College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004379460","display_name":"Zhiwen Zeng","orcid":"https://orcid.org/0000-0002-8566-6965"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Zeng","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN","College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721758","display_name":"Junhao Xiao","orcid":"https://orcid.org/0000-0002-4751-539X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhao Xiao","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN","College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100346729","display_name":"Zhiqiang Zheng","orcid":"https://orcid.org/0000-0003-2656-6689"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zheng","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, CN","College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, CN","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5616,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73887576,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2552","last_page":"2557"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.993399977684021,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9889000058174133,"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/voronoi-diagram","display_name":"Voronoi diagram","score":0.8527849316596985},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7966688871383667},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6551085114479065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6403135061264038},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6296605467796326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6190636157989502},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6121647357940674},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5947330594062805},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.5527358651161194},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.5162103772163391},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4912952780723572},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.47892722487449646},{"id":"https://openalex.org/keywords/diagram","display_name":"Diagram","score":0.45513713359832764},{"id":"https://openalex.org/keywords/computational-geometry","display_name":"Computational geometry","score":0.4502805471420288},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4278677701950073},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3646295368671417},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3617982566356659},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35054710507392883},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33904948830604553},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32842594385147095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2644919455051422},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18167981505393982},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11516162753105164}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.8527849316596985},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7966688871383667},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6551085114479065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6403135061264038},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6296605467796326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6190636157989502},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6121647357940674},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5947330594062805},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.5527358651161194},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.5162103772163391},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4912952780723572},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.47892722487449646},{"id":"https://openalex.org/C186399060","wikidata":"https://www.wikidata.org/wiki/Q959962","display_name":"Diagram","level":2,"score":0.45513713359832764},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.4502805471420288},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4278677701950073},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3646295368671417},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3617982566356659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35054710507392883},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33904948830604553},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32842594385147095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2644919455051422},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18167981505393982},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11516162753105164},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279715","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":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1964806465","https://openalex.org/W1976174214","https://openalex.org/W2052394785","https://openalex.org/W2068991880","https://openalex.org/W2103120971","https://openalex.org/W2125409550","https://openalex.org/W2154664099","https://openalex.org/W2177274602","https://openalex.org/W2225813005","https://openalex.org/W2408669324","https://openalex.org/W2583754054"],"related_works":["https://openalex.org/W2908074373","https://openalex.org/W4250008887","https://openalex.org/W2962789953","https://openalex.org/W1492333335","https://openalex.org/W2042426695","https://openalex.org/W2189603398","https://openalex.org/W4299527166","https://openalex.org/W2084691280","https://openalex.org/W889844791","https://openalex.org/W2351580801"],"abstract_inverted_index":{"In":[0,64],"RoboCup":[1],"middle":[2],"size":[3],"league":[4],"(MSL),":[5],"the":[6,10,32,42,74,89,102,121,124],"basic":[7],"purpose":[8],"for":[9,50],"soccer":[11],"robots":[12,52],"is":[13,45,55],"to":[14,26,84,119],"realize":[15],"obstacle":[16],"avoidance":[17],"and":[18,35,61,81,91,112],"shooting":[19],"without":[20],"stop":[21],"by":[22],"utilizing":[23],"trajectory":[24,43,54,108],"planning":[25,44],"provide":[27],"a":[28,58,69,106],"smooth":[29,107],"trajectory.":[30],"Consider":[31],"highly":[33,36,59],"competitive":[34,60],"dynamic":[37,62],"match":[38],"environment,":[39],"in":[40,57],"fact,":[41],"very":[46],"challenge.":[47],"The":[48],"implementation":[49],"mobile":[51],"generating":[53],"complex":[56],"environment.":[63],"this":[65],"paper,":[66],"we":[67,99],"propose":[68],"new":[70],"method":[71],"based":[72],"on":[73],"Dijkstra":[75],"shortest":[76],"path":[77],"algorithm,":[78],"B\u00e9zier":[79],"curve":[80],"Voronoi":[82],"diagram":[83],"create":[85],"geometric":[86,103],"paths.":[87],"Since":[88],"acceleration":[90,111],"velocity":[92],"limitation":[93],"should":[94],"be":[95],"taken":[96],"into":[97,105],"account,":[98],"then":[100],"transform":[101],"paths":[104],"with":[109],"specified":[110],"velocity.":[113],"Finally,":[114],"simulation":[115],"results":[116],"are":[117],"provided":[118],"illustrate":[120],"efficiency":[122],"of":[123],"method.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
