{"id":"https://openalex.org/W4285102643","doi":"https://doi.org/10.1109/icra46639.2022.9812167","title":"Parametric Path Optimization for Wheeled Robots Navigation","display_name":"Parametric Path Optimization for Wheeled Robots Navigation","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102643","doi":"https://doi.org/10.1109/icra46639.2022.9812167"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812167","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 Robotics and Automation (ICRA)","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/A5004946705","display_name":"Zhiqiang Jian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Jian","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048544277","display_name":"Songyi Zhang","orcid":"https://orcid.org/0000-0002-5776-0858"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyi Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383581","display_name":"Jiahui Zhang","orcid":"https://orcid.org/0000-0001-5143-8908"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahui Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774271","display_name":"Shitao Chen","orcid":"https://orcid.org/0000-0002-9422-3058"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shitao Chen","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, P.R. China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2359,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56647973,"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":"10883","last_page":"10889"},"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":0.9941999912261963,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9854999780654907,"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/smoothness","display_name":"Smoothness","score":0.7614461779594421},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6948292851448059},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6882745027542114},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6462481021881104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6213932633399963},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.590754508972168},{"id":"https://openalex.org/keywords/parametric-equation","display_name":"Parametric equation","score":0.5037612318992615},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.47986358404159546},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4748418927192688},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.455123633146286},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.44275039434432983},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33637961745262146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33241790533065796},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2551342844963074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16142234206199646}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.7614461779594421},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6948292851448059},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6882745027542114},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6462481021881104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6213932633399963},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.590754508972168},{"id":"https://openalex.org/C99636146","wikidata":"https://www.wikidata.org/wiki/Q35889","display_name":"Parametric equation","level":2,"score":0.5037612318992615},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.47986358404159546},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4748418927192688},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.455123633146286},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.44275039434432983},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33637961745262146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33241790533065796},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2551342844963074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16142234206199646},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812167","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5317208632","display_name":null,"funder_award_id":"61773312,61790562","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1562669166","https://openalex.org/W1935926926","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1971998222","https://openalex.org/W1981934656","https://openalex.org/W1996183429","https://openalex.org/W2000359213","https://openalex.org/W2034801091","https://openalex.org/W2079777091","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2133826865","https://openalex.org/W2167340365","https://openalex.org/W2167348159","https://openalex.org/W2306644740","https://openalex.org/W2549200707","https://openalex.org/W2890807499","https://openalex.org/W2891263320","https://openalex.org/W2901136733","https://openalex.org/W2954374674","https://openalex.org/W3143901407","https://openalex.org/W3159846780","https://openalex.org/W4236251699","https://openalex.org/W6633601543","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W1997369033","https://openalex.org/W1957996277","https://openalex.org/W2591763881","https://openalex.org/W2914610299"],"abstract_inverted_index":{"Collision":[0],"risk":[1,21],"and":[2,22,83,109,132,141,146],"smoothness":[3,25],"are":[4,49],"the":[5,39,47,57,61,77,86,97,115,135],"most":[6],"important":[7],"factors":[8],"in":[9,125,130,143],"global":[10,18,70],"path":[11,19,48,71,78,116],"planning.":[12],"Currently,":[13],"planning":[14],"methods":[15,35],"that":[16],"reduce":[17],"collision":[20,126],"improve":[23],"its":[24],"through":[26],"numerical":[27],"optimization":[28,63,72,100],"have":[29],"achieved":[30],"good":[31],"results.":[32],"However,":[33],"these":[34],"cannot":[36],"always":[37],"optimize":[38],"path.":[40],"The":[41,74,102],"reason":[42],"is":[43,105,121,138],"all":[44],"points":[45],"on":[46],"considered":[50],"as":[51,79],"decision":[52],"variables,":[53],"which":[54,94],"leads":[55],"to":[56],"high":[58],"dimensionality":[59],"of":[60,99],"defined":[62,91],"problem.":[64,101],"Therefore,":[65],"we":[66],"propose":[67],"a":[68,80,90],"novel":[69],"method.":[73],"method":[75,104,120,137],"characterizes":[76],"parametric":[81],"curve":[82],"then":[84],"optimizes":[85],"curve's":[87],"parameters":[88],"with":[89,107],"objective":[92],"function,":[93],"successfully":[95],"reduces":[96],"dimension":[98],"proposed":[103,136],"compared":[106],"baseline":[108],"state-of-the-art":[110],"methods.":[111],"Experimental":[112],"results":[113],"show":[114],"optimized":[117],"by":[118],"our":[119],"not":[122],"only":[123],"optimal":[124],"risk,":[127],"but":[128],"also":[129,139],"efficiency":[131],"smoothness.":[133],"Furthermore,":[134],"implemented":[140],"tested":[142],"both":[144],"simulation":[145],"real":[147],"robots.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}