{"id":"https://openalex.org/W2571367491","doi":"https://doi.org/10.1109/iecon.2016.7793160","title":"Kinodynamic motion planning for a two-wheeled drive mobile robot using a Harmonic Potential Field","display_name":"Kinodynamic motion planning for a two-wheeled drive mobile robot using a Harmonic Potential Field","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2571367491","doi":"https://doi.org/10.1109/iecon.2016.7793160","mag":"2571367491"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2016.7793160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5058632654","display_name":"Kimiko Motonaka","orcid":"https://orcid.org/0000-0003-2471-5118"},"institutions":[{"id":"https://openalex.org/I56624758","display_name":"Kansai University","ror":"https://ror.org/03xg1f311","country_code":"JP","type":"education","lineage":["https://openalex.org/I56624758"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kimiko Motonaka","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Faculty of Engineering Science Kansai University, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Faculty of Engineering Science Kansai University, Osaka, Japan","institution_ids":["https://openalex.org/I56624758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108635482","display_name":"Tsuyoshi Goto","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsuyoshi Goto","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Graduate School of Natural Science and Technology Okayama University, Kita-ku, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Graduate School of Natural Science and Technology Okayama University, Kita-ku, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keigo Watanabe","raw_affiliation_strings":["Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Kita-ku, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Kita-ku, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111457034","display_name":"Shoichi Maeyama","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shoichi Maeyama","raw_affiliation_strings":["Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Kita-ku, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology Okayama University, Kita-ku, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6140","last_page":"6145"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987999796867371,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.7299559116363525},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7054068446159363},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6593714952468872},{"id":"https://openalex.org/keywords/invariant-manifold","display_name":"Invariant manifold","score":0.6299446821212769},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6223423480987549},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5430547595024109},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5303999185562134},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4994969367980957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.487631231546402},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43630653619766235},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.4346768856048584},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4169524312019348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3517380356788635},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28279274702072144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26714521646499634},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23197439312934875},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06651419401168823}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7299559116363525},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7054068446159363},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6593714952468872},{"id":"https://openalex.org/C20483540","wikidata":"https://www.wikidata.org/wiki/Q4200516","display_name":"Invariant manifold","level":2,"score":0.6299446821212769},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6223423480987549},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5430547595024109},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5303999185562134},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4994969367980957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.487631231546402},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43630653619766235},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.4346768856048584},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4169524312019348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3517380356788635},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28279274702072144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26714521646499634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23197439312934875},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06651419401168823},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2016.7793160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","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":6,"referenced_works":["https://openalex.org/W1987489142","https://openalex.org/W2048820947","https://openalex.org/W2071133425","https://openalex.org/W2102490802","https://openalex.org/W2110830687","https://openalex.org/W3100455520"],"related_works":["https://openalex.org/W2383775285","https://openalex.org/W3217574331","https://openalex.org/W4387831374","https://openalex.org/W2032227660","https://openalex.org/W1980855435","https://openalex.org/W2529467364","https://openalex.org/W2139555684","https://openalex.org/W2020506589","https://openalex.org/W2950257836","https://openalex.org/W3152370143"],"abstract_inverted_index":{"There":[0],"are":[1],"many":[2],"methods":[3],"for":[4,117],"making":[5],"a":[6,31,36,53,64,73,85,98,118],"robot":[7,37,119],"with":[8,38,120],"two":[9,39,121],"independent":[10,40,122],"driving":[11,41,123],"wheels":[12,42,124],"move":[13],"autonomously,":[14],"but":[15],"kinodynamic":[16,114],"motion":[17,79,115],"planning":[18,116],"using":[19,97],"HPF":[20,152],"(Harmonic":[21],"Potential":[22],"Field)":[23],"was":[24],"seldom":[25],"studied":[26],"up":[27],"to":[28,51,93,141],"now.":[29],"Since":[30],"nonholonomic":[32,86],"system":[33],"such":[34],"as":[35],"includes":[43],"complicated":[44],"nonlinear":[45],"terms":[46],"generally,":[47],"it":[48,62,81,109],"is":[49,82,110,153,164],"hard":[50],"realize":[52],"stable":[54],"and":[55,134,147,157],"tractable":[56],"controller":[57],"design:":[58],"in":[59,77,155],"other":[60],"words,":[61],"needs":[63],"specific":[65],"control":[66,75,99,128,146],"method":[67,76,100],"when":[68],"controlling":[69],"it.":[70],"However,":[71],"about":[72],"dynamic":[74],"the":[78,127,131,135,143,148,151,158,161],"planning,":[80],"guaranteed":[83],"that":[84],"controlled":[87],"object":[88],"can":[89],"always":[90],"be":[91],"converged":[92],"an":[94,103],"arbitrary":[95],"point":[96],"based":[101,129],"on":[102,130],"invariant":[104,132,144],"manifold.":[105],"In":[106,137],"this":[107,138],"research,":[108],"aimed":[111],"at":[112],"realizing":[113],"by":[125],"combining":[126],"manifold":[133,145],"HPF.":[136],"paper,":[139],"how":[140],"combine":[142],"concept":[149],"of":[150,160],"explained":[154],"detail,":[156],"usefulness":[159],"proposed":[162],"approach":[163],"verified":[165],"through":[166],"some":[167],"simulations.":[168]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}