{"id":"https://openalex.org/W2169465686","doi":"https://doi.org/10.1109/iros.2009.5354137","title":"Behavior planning of an unmanned ground vehicle with actively articulated suspension to negotiate geometric obstacles","display_name":"Behavior planning of an unmanned ground vehicle with actively articulated suspension to negotiate geometric obstacles","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2169465686","doi":"https://doi.org/10.1109/iros.2009.5354137","mag":"2169465686"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5111889146","display_name":"Kyeong Bin Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kyeong Bin Lim","raw_affiliation_strings":["Mechanical Engineering Department, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024144548","display_name":"Sukhoon Park","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sukhoon Park","raw_affiliation_strings":["Mechanical Engineering Department, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040263909","display_name":"Suengwoo Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Suengwoo Kim","raw_affiliation_strings":["Mechanical Engineering Department, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067226224","display_name":"Jae Muk Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae Muk Jeong","raw_affiliation_strings":["Mechanical Engineering Department, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100561454","display_name":"Yong\u2013San Yoon","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-San Yoon","raw_affiliation_strings":["Mechanical Engineering Department, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111889146"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.3236,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.64939122,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"821","last_page":"826"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9944000244140625,"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/suspension","display_name":"Suspension (topology)","score":0.8132660388946533},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7851622104644775},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.7742156982421875},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.656241238117218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6026970148086548},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5595568418502808},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4736798107624054},{"id":"https://openalex.org/keywords/negotiation","display_name":"Negotiation","score":0.4550500810146332},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44579246640205383},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4198407530784607},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.416368305683136},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39087677001953125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31217318773269653},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.30161774158477783},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27021121978759766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2566460072994232},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25077104568481445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2356266975402832},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1448575258255005}],"concepts":[{"id":"https://openalex.org/C105341887","wikidata":"https://www.wikidata.org/wiki/Q1307987","display_name":"Suspension (topology)","level":3,"score":0.8132660388946533},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7851622104644775},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.7742156982421875},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.656241238117218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026970148086548},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5595568418502808},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4736798107624054},{"id":"https://openalex.org/C199776023","wikidata":"https://www.wikidata.org/wiki/Q202875","display_name":"Negotiation","level":2,"score":0.4550500810146332},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44579246640205383},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4198407530784607},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.416368305683136},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39087677001953125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31217318773269653},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.30161774158477783},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27021121978759766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2566460072994232},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25077104568481445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2356266975402832},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1448575258255005},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1528217929","https://openalex.org/W1590313028","https://openalex.org/W1666853850","https://openalex.org/W1969436289","https://openalex.org/W2029569297","https://openalex.org/W2029638104","https://openalex.org/W2064853102","https://openalex.org/W2070914248","https://openalex.org/W2149317166","https://openalex.org/W2163583908","https://openalex.org/W2169503252","https://openalex.org/W2254247527","https://openalex.org/W6631689628","https://openalex.org/W6636931642"],"related_works":["https://openalex.org/W300423018","https://openalex.org/W2018422464","https://openalex.org/W2798957270","https://openalex.org/W4210263804","https://openalex.org/W4200099250","https://openalex.org/W2372395771","https://openalex.org/W2901637722","https://openalex.org/W1551304509","https://openalex.org/W2160195118","https://openalex.org/W3107692636"],"abstract_inverted_index":{"The":[0,43],"behavior":[1,55,62,92,112,123],"control":[2],"method":[3,29,99],"was":[4,45,77,100],"usually":[5],"adapted":[6],"for":[7,57,89,125],"controlling":[8],"the":[9,14,17,34,48,54,58,67,70,81,90,97,111,122],"suspension":[10,35,75,91],"configuration":[11,31,76],"which":[12],"determines":[13],"traversability":[15],"of":[16,30,33,41,50,69,96,117,121],"UGV":[18],"with":[19],"actively":[20],"articulated":[21],"suspension.":[22],"In":[23],"this":[24],"paper,":[25],"we":[26],"proposed":[27,98],"a":[28],"planning":[32,113,124],"without":[36,114],"any":[37],"detail":[38],"geometric":[39,115],"data":[40],"terrain.":[42,71],"terrain":[44,118],"estimated":[46],"by":[47,102],"traces":[49],"each":[51],"wheel":[52],"and":[53,84,87,108,119],"plans":[56,88],"desired":[59],"upper":[60],"level":[61],"were":[63,93,128],"set":[64],"up":[65],"against":[66],"constraints":[68],"Also,":[72],"an":[73],"optimal":[74],"calculated":[78],"based":[79],"on":[80],"quasi-static":[82],"stability":[83],"power":[85],"consumption,":[86],"made.":[94],"Validity":[95],"checked":[101],"simulation":[103],"using":[104],"some":[105],"off-the-shelf":[106],"programs,":[107],"showed":[109],"that":[110],"features":[116],"simplification":[120],"obstacle":[126],"negotiation":[127],"possible.":[129]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"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"}