{"id":"https://openalex.org/W2130874059","doi":"https://doi.org/10.1109/iros.2004.1389952","title":"Optimization of waypoint-guided potential field navigation using evolutionary algorithms","display_name":"Optimization of waypoint-guided potential field navigation using evolutionary algorithms","publication_year":2005,"publication_date":"2005-04-06","ids":{"openalex":"https://openalex.org/W2130874059","doi":"https://doi.org/10.1109/iros.2004.1389952","mag":"2130874059"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5028890318","display_name":"Jes\u00fas Savage","orcid":"https://orcid.org/0000-0002-6340-8375"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"J. Savage","raw_affiliation_strings":["Laboratorio de Interfaces Inteligentes, University of Mexico, Mexico"],"affiliations":[{"raw_affiliation_string":"Laboratorio de Interfaces Inteligentes, University of Mexico, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080344964","display_name":"E. Marquez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"E. Marquez","raw_affiliation_strings":["Laboratorio de Interfaces Inteligentes, University of Mexico, Mexico"],"affiliations":[{"raw_affiliation_string":"Laboratorio de Interfaces Inteligentes, University of Mexico, Mexico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113677030","display_name":"Jimmy Pettersson","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"J. Pettersson","raw_affiliation_strings":["Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082351763","display_name":"N. Trygg","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"N. Trygg","raw_affiliation_strings":["Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113447588","display_name":"A. Petersson","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"A. Petersson","raw_affiliation_strings":["Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028236337","display_name":"Mattias Wahde","orcid":"https://orcid.org/0000-0001-6679-637X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"M. Wahde","raw_affiliation_strings":["Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Machine and Vehicle Systems, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5028890318"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2937,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.62185721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"3463","last_page":"3468"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/waypoint","display_name":"Waypoint","score":0.9657428860664368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6537657380104065},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5072748064994812},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.5063363313674927},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.47494176030158997},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.4582902193069458},{"id":"https://openalex.org/keywords/optimization-algorithm","display_name":"Optimization algorithm","score":0.4233691096305847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4107092022895813},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2653196454048157},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.2625446319580078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25479334592819214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12590712308883667},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07324528694152832}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9657428860664368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6537657380104065},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5072748064994812},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.5063363313674927},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.47494176030158997},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.4582902193069458},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.4233691096305847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4107092022895813},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2653196454048157},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2625446319580078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25479334592819214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12590712308883667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07324528694152832},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321523","display_name":"Chalmers Tekniska H\u00f6gskola","ror":"https://ror.org/040wg7k59"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1481659984","https://openalex.org/W1512583199","https://openalex.org/W1634628684","https://openalex.org/W1904799423","https://openalex.org/W1967005434","https://openalex.org/W2015684605","https://openalex.org/W2103120971","https://openalex.org/W2109014985","https://openalex.org/W2113286054","https://openalex.org/W2116966230","https://openalex.org/W2120341179","https://openalex.org/W2153809277","https://openalex.org/W4242811155","https://openalex.org/W6682677477"],"related_works":["https://openalex.org/W1991922567","https://openalex.org/W4324119472","https://openalex.org/W4297582752","https://openalex.org/W4285805405","https://openalex.org/W2391924736","https://openalex.org/W3133779647","https://openalex.org/W1560122427","https://openalex.org/W2021957875","https://openalex.org/W2802808995","https://openalex.org/W2593449396"],"abstract_inverted_index":{"This":[0],"paper":[1,151],"describes":[2,153],"a":[3,22,56,75,95,113,124,154,168],"method":[4,19],"for":[5,10,28,40],"optimization":[6],"of":[7,35,59,140,157,167],"waypoint":[8],"selection":[9],"potential":[11,31,42,158],"field":[12,43,159],"navigation":[13,116],"in":[14,62,88,94,107,118,129,146,161],"autonomous":[15],"robots.":[16],"In":[17],"the":[18,30,41,60,64,72,100,120,130,132,141,147,150,162],"presented":[20],"here,":[21],"genetic":[23],"algorithm":[24,73],"(GA)":[25],"is":[26,66,69],"used":[27,145],"optimizing":[29],"field.":[32],"The":[33,50],"chromosome":[34],"each":[36],"individual":[37],"encodes":[38],"parametrizations":[39],"generated":[44],"by":[45],"waypoints,":[46],"obstacles,":[47,86],"and":[48,80],"goals.":[49],"waypoints":[51],"themselves":[52],"are":[53,92],"obtained":[54],"through":[55,82,138],"Voronoi":[57],"tessellation":[58],"environment":[61],"which":[63,119],"robot":[65,76,121,134,173],"operating.":[67],"It":[68],"demonstrated":[70],"that":[71],"allows":[74],"to":[77,123,136],"navigate":[78,137],"safely":[79],"efficiently":[81],"spaces":[83],"with":[84],"many":[85],"even":[87],"cases":[89],"where":[90],"these":[91],"placed":[93],"strongly":[96],"unfavorable":[97],"way.":[98],"Furthermore,":[99],"results":[101],"from":[102],"simulations":[103],"were":[104],"implemented":[105],"successfully":[106],"an":[108],"actual":[109],"Khepera":[110,133],"robot.":[111],"Using":[112],"slightly":[114],"simplified":[115],"procedure,":[117],"comes":[122],"standstill":[125],"between":[126],"successive":[127],"steps":[128],"navigation,":[131,160],"managed":[135],"one":[139],"most":[142],"difficult":[143],"environments":[144],"simulations.":[148],"Finally,":[149],"briefly":[152],"different":[155],"implementation":[156],"path":[163],"planning":[164],"adaptation":[165],"submodule":[166],"more":[169],"advanced":[170],"simulated":[171],"mobile":[172],"(VirBot).":[174]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}