{"id":"https://openalex.org/W2081214519","doi":"https://doi.org/10.1109/icmech.2015.7083950","title":"Optimized trajectory planning for mobile robot in the presence of moving obstacles","display_name":"Optimized trajectory planning for mobile robot in the presence of moving obstacles","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W2081214519","doi":"https://doi.org/10.1109/icmech.2015.7083950","mag":"2081214519"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2015.7083950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7083950","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 Mechatronics (ICM)","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/A5022426724","display_name":"Chun-Hsu Ko","orcid":"https://orcid.org/0000-0003-0206-211X"},"institutions":[{"id":"https://openalex.org/I98298690","display_name":"I-Shou University","ror":"https://ror.org/04d7e4m76","country_code":"TW","type":"education","lineage":["https://openalex.org/I98298690"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Chun-Hsu Ko","raw_affiliation_strings":["Electrical Engineering I-Shou University Kaohsiung, Taiwan","Electrical Engineering, I-Shou University, Kaohsiung, Taiwan"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering I-Shou University Kaohsiung, Taiwan","institution_ids":["https://openalex.org/I98298690"]},{"raw_affiliation_string":"Electrical Engineering, I-Shou University, Kaohsiung, Taiwan","institution_ids":["https://openalex.org/I98298690"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060010065","display_name":"Kuu\u2010Young Young","orcid":"https://orcid.org/0000-0003-3636-7667"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kuu-Young Young","raw_affiliation_strings":["Electrical Engineering National Chiao Tung University Hsinchu, Taiwan","Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering National Chiao Tung University Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102133937","display_name":"Yi-Hung Hsieh","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yi-Hung Hsieh","raw_affiliation_strings":["Electrical Engineering National Chiao Tung University Hsinchu, Taiwan","Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering National Chiao Tung University Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022426724"],"corresponding_institution_ids":["https://openalex.org/I98298690"],"apc_list":null,"apc_paid":null,"fwci":1.4728,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.88020502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"70","last_page":"75"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8709027767181396},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8176559805870056},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7752691507339478},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7638100981712341},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7527639865875244},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6688635349273682},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6334494352340698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6026842594146729},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5705909729003906},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5641451478004456},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5503867268562317},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5026109218597412},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4509144425392151},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4430781602859497},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3517710864543915},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27730152010917664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2590729594230652},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25479191541671753},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17184776067733765},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.04854673147201538}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8709027767181396},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8176559805870056},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7752691507339478},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7638100981712341},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7527639865875244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6688635349273682},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6334494352340698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026842594146729},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5705909729003906},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5641451478004456},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5503867268562317},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5026109218597412},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4509144425392151},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4430781602859497},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3517710864543915},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27730152010917664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2590729594230652},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25479191541671753},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17184776067733765},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.04854673147201538},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmech.2015.7083950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7083950","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 Mechatronics (ICM)","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":19,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1482553614","https://openalex.org/W1608481154","https://openalex.org/W1988676268","https://openalex.org/W1989532475","https://openalex.org/W1996938966","https://openalex.org/W2002440441","https://openalex.org/W2004752876","https://openalex.org/W2103120971","https://openalex.org/W2117211893","https://openalex.org/W2121204166","https://openalex.org/W2150984640","https://openalex.org/W2156142530","https://openalex.org/W2611243847","https://openalex.org/W2798766386","https://openalex.org/W3150337984","https://openalex.org/W4254313632","https://openalex.org/W6628629837","https://openalex.org/W6647848061"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W3043170174","https://openalex.org/W2782776446","https://openalex.org/W2155948905"],"abstract_inverted_index":{"Navigation":[0],"and":[1,85],"obstacle":[2,31,93],"avoidance":[3,54],"are":[4,99],"essential":[5],"for":[6,29,52,76],"mobile":[7],"robots.":[8],"In":[9],"the":[10,13,50,57,82,89,92,103,106],"dynamic":[11,83],"environment,":[12],"obstacles":[14],"may":[15],"move":[16],"with":[17,88],"varying":[18],"velocities.":[19],"It":[20],"is":[21,63,79],"thus":[22],"crucial":[23],"to":[24,101],"develop":[25],"an":[26,68],"effective":[27],"scheme":[28,43],"moving":[30],"avoidance.":[32],"Motivated":[33],"by":[34,66],"this,":[35],"in":[36],"this":[37],"paper,":[38],"we":[39],"propose":[40],"such":[41],"a":[42,59,96],"based":[44],"on":[45],"parametric":[46],"trajectory":[47,62],"planning.":[48],"With":[49],"conditions":[51],"collision":[53],"formulated":[55],"as":[56],"constraints,":[58],"feasible":[60],"collision-free":[61],"then":[64],"derived":[65,86],"solving":[67],"unconstrained":[69],"optimization":[70],"problem.":[71],"The":[72],"corresponding":[73],"control":[74],"torques":[75],"robot":[77],"governing":[78],"calculated":[80],"using":[81],"model":[84],"trajectory,":[87],"information":[90],"about":[91],"not":[94],"known":[95],"priori.":[97],"Simulations":[98],"performed":[100],"demonstrate":[102],"efficiency":[104],"of":[105],"proposed":[107],"approach.":[108]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
