{"id":"https://openalex.org/W4399373994","doi":"https://doi.org/10.1109/icit58233.2024.10540807","title":"Collision-Free Edge-Following Path Planner based on Adaptive Sampling Continuous Collision Detection","display_name":"Collision-Free Edge-Following Path Planner based on Adaptive Sampling Continuous Collision Detection","publication_year":2024,"publication_date":"2024-03-25","ids":{"openalex":"https://openalex.org/W4399373994","doi":"https://doi.org/10.1109/icit58233.2024.10540807"},"language":"en","primary_location":{"id":"doi:10.1109/icit58233.2024.10540807","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icit58233.2024.10540807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Industrial Technology (ICIT)","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/A5101372983","display_name":"Jinxun Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinxun Tang","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","Jiutian Innovation (Guang-dong) Intelligent Technology Co., Ltd, Foshan, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Jiutian Innovation (Guang-dong) Intelligent Technology Co., Ltd, Foshan, Guangdong, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113314511","display_name":"Xuanyu Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanyu Chen","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0009-0009-5233-6247"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102193084","display_name":"Shengxi Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shengxi Zhou","raw_affiliation_strings":["Jiutian Innovation (Guang-dong) Intelligent Technology Co., Ltd,Foshan,Guangdong,China,528299"],"affiliations":[{"raw_affiliation_string":"Jiutian Innovation (Guang-dong) Intelligent Technology Co., Ltd,Foshan,Guangdong,China,528299","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654885","display_name":"Li Xiao","orcid":"https://orcid.org/0000-0002-3063-0869"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Li","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047105106","display_name":"Haifei Zhu","orcid":"https://orcid.org/0000-0002-2463-4564"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058903424","display_name":"Jiehao Li","orcid":"https://orcid.org/0000-0002-4946-4434"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiehao Li","raw_affiliation_strings":["School of Computer Science and Engineering, South China University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101372983"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07264393,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"1","last_page":"7"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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/collision","display_name":"Collision","score":0.7084475755691528},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.7066342234611511},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.6999642848968506},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6755428314208984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6679897904396057},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6175333261489868},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5508426427841187},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5488839149475098},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5259972810745239},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5080435276031494},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.467658668756485},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.43092668056488037},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42552852630615234},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4165741205215454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3992115259170532},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33695101737976074},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1634066104888916}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7084475755691528},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.7066342234611511},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.6999642848968506},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6755428314208984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6679897904396057},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6175333261489868},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5508426427841187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5488839149475098},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5259972810745239},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5080435276031494},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.467658668756485},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.43092668056488037},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42552852630615234},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4165741205215454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3992115259170532},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33695101737976074},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1634066104888916},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icit58233.2024.10540807","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icit58233.2024.10540807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1497695555","https://openalex.org/W1875781102","https://openalex.org/W1968582771","https://openalex.org/W1984148980","https://openalex.org/W1984493088","https://openalex.org/W2051434435","https://openalex.org/W2972399436","https://openalex.org/W2985797574","https://openalex.org/W2993114086","https://openalex.org/W3036975023","https://openalex.org/W3114626444","https://openalex.org/W3118715781","https://openalex.org/W3174646030","https://openalex.org/W4242346993","https://openalex.org/W4283700584","https://openalex.org/W4321174282","https://openalex.org/W4389665747"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W2889566344","https://openalex.org/W2361092061","https://openalex.org/W4381746183","https://openalex.org/W2559356576","https://openalex.org/W3139139461","https://openalex.org/W1660309994","https://openalex.org/W2056737145","https://openalex.org/W4297094037"],"abstract_inverted_index":{"Outdoor":[0],"robots":[1,136],"often":[2],"require":[3],"exceptional":[4],"edge-following(EF)":[5],"mobility":[6],"to":[7,37,87,100,133],"perform":[8],"tasks":[9],"like":[10],"sweeping":[11],"and":[12,26,30,72,84,109],"delivering":[13],"goods":[14],"along":[15,19,125],"borders.":[16],"However,":[17],"moving":[18,124],"the":[20,34,89,126],"edge":[21],"poses":[22],"challenges":[23],"for":[24],"fast":[25],"accurate":[27],"collision":[28],"detection":[29,91],"path":[31],"planning,":[32],"as":[33,137],"robot":[35],"needs":[36],"approach":[38,117],"obstacles":[39],"while":[40],"ensuring":[41],"collision-free.":[42],"To":[43],"address":[44],"these":[45],"challenges,":[46],"we":[47],"propose":[48],"an":[49],"Edge-Following":[50],"Path":[51],"Planner":[52],"(EF-Planner)":[53],"integrating":[54],"a":[55,79,119],"novel":[56],"Error-Limited":[57],"Adaptive":[58],"Sampling":[59],"Continuous":[60],"Collision":[61],"Detection":[62],"(ELAS-CCD)":[63],"method,":[64],"enhancing":[65],"mobile":[66],"robot's":[67],"capability":[68],"of":[69],"following":[70],"edges":[71],"simultaneously":[73],"avoiding":[74],"obstacles.":[75],"The":[76],"ELAS-CCD":[77,99],"establishes":[78],"relationship":[80],"between":[81],"allowable":[82],"error":[83],"sampling":[85],"frequency(SF)":[86],"achieve":[88],"required":[90],"accuracy":[92],"through":[93],"inserting":[94],"discrete":[95],"footprints.":[96],"EF-Planner":[97],"inte-grates":[98],"formulate":[101],"multi-objective":[102],"function,":[103],"taking":[104],"into":[105],"account":[106],"safety,":[107],"smoothness,":[108],"efficient":[110],"EF.":[111],"Experimental":[112],"results":[113],"demonstrate":[114],"that":[115],"our":[116],"achieves":[118],"reduced":[120],"deviation":[121],"distance":[122],"when":[123],"edge.":[127],"Moreover,":[128],"this":[129],"method":[130],"is":[131],"applicable":[132],"other":[134],"EF":[135],"well.":[138]},"counts_by_year":[],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}