{"id":"https://openalex.org/W2771233287","doi":"https://doi.org/10.1109/iecon.2017.8216967","title":"PSO-based receding horizon control of mobile robots for local path planning","display_name":"PSO-based receding horizon control of mobile robots for local path planning","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2771233287","doi":"https://doi.org/10.1109/iecon.2017.8216967","mag":"2771233287"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2017.8216967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8216967","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","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":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","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/A5101407870","display_name":"Yue-Yue Chen","orcid":"https://orcid.org/0000-0002-5963-0782"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yueyue Chen","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037748023","display_name":"Qiang Lu","orcid":"https://orcid.org/0000-0002-1586-5598"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Lu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100625563","display_name":"Ke Yin","orcid":"https://orcid.org/0000-0001-9156-4060"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Yin","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100666361","display_name":"Botao Zhang","orcid":"https://orcid.org/0000-0002-7826-3121"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Botao Zhang","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065233806","display_name":"Chaoliang Zhong","orcid":"https://orcid.org/0000-0001-8981-1982"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoliang Zhong","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101407870"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":0.394,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72405797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":null,"first_page":"5587","last_page":"5592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9907000064849854,"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/mobile-robot","display_name":"Mobile robot","score":0.7042034268379211},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6937694549560547},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6667436957359314},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6121740341186523},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.5846264362335205},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5581804513931274},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5453947186470032},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.533613920211792},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.510235071182251},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5043574571609497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5000655651092529},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4923924207687378},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4508868157863617},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.45058247447013855},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.44097042083740234},{"id":"https://openalex.org/keywords/penalty-method","display_name":"Penalty method","score":0.41713955998420715},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4130863547325134},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3735330104827881},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37307271361351013},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35548073053359985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23899325728416443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16480043530464172},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12820103764533997},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.055555135011672974}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7042034268379211},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6937694549560547},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6667436957359314},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6121740341186523},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.5846264362335205},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5581804513931274},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5453947186470032},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.533613920211792},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.510235071182251},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5043574571609497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5000655651092529},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4923924207687378},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4508868157863617},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.45058247447013855},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.44097042083740234},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.41713955998420715},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4130863547325134},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3735330104827881},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37307271361351013},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35548073053359985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23899325728416443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16480043530464172},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12820103764533997},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.055555135011672974},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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.2017.8216967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8216967","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","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":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7200000286102295}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321935","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1638373997","https://openalex.org/W1898274049","https://openalex.org/W2040822896","https://openalex.org/W2105850748","https://openalex.org/W2145053972","https://openalex.org/W2152195021","https://openalex.org/W2165299997","https://openalex.org/W2166707193","https://openalex.org/W2168309003","https://openalex.org/W2292294563","https://openalex.org/W2355704294","https://openalex.org/W2359669061","https://openalex.org/W2364360608","https://openalex.org/W2366165854","https://openalex.org/W2367750354","https://openalex.org/W2371986350","https://openalex.org/W2380867569","https://openalex.org/W2548265942","https://openalex.org/W4285719527","https://openalex.org/W6636948731","https://openalex.org/W6708152258","https://openalex.org/W6987013319"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3036618925","https://openalex.org/W2153702122"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,35,41,53,57,84,88,105,115,126,134,137,143,147],"problem":[4],"of":[5,37,43,146],"local":[6],"path":[7],"planning":[8],"in":[9,40],"a":[10,15,26,47,71,97,119],"static-obstacle":[11],"environment":[12],"by":[13,96,155],"designing":[14],"PSO-based":[16,106,148],"receding":[17,44,107,149],"horizon":[18,45,108,150],"control":[19,109,120,128,151],"approach.":[20],"In":[21],"order":[22],"to":[23,69,81,132],"avoid":[24,140],"obstacles,":[25],"virtual":[27,54,78],"robot":[28,55,135],"is":[29,50,94,111,122,130],"first":[30,127],"designed":[31],"and":[32,56,74,80,124,139],"moves":[33],"along":[34],"boundary":[36],"obstacles.":[38,141],"Then,":[39],"framework":[42],"control,":[46],"cost":[48,90,117],"function":[49,91],"proposed":[51,89,116],"where":[52],"target":[58,85,138],"position":[59],"are":[60,67,153],"integrated,":[61],"which":[62],"implies":[63],"that":[64,104],"mobile":[65],"robots":[66],"controlled":[68],"keep":[70],"security":[72],"distance":[73],"velocity":[75],"consensus":[76],"with":[77,92],"robots,":[79],"move":[82],"toward":[83,136],"position.":[86],"Next,":[87],"constraints":[93],"processed":[95],"particle":[98],"swarm":[99],"optimization":[100],"(PSO)":[101],"algorithm":[102],"such":[103],"approach":[110,152],"developed.":[112],"By":[113],"solving":[114],"function,":[118],"sequence":[121],"obtained":[123],"then":[125],"input":[129],"used":[131],"enable":[133],"Finally,":[142],"performance":[144],"capabilities":[145],"illustrated":[154],"simulation":[156],"results.":[157]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
