{"id":"https://openalex.org/W2991527345","doi":"https://doi.org/10.1109/itsc.2019.8917200","title":"Trajectory Planning for a Pseudo Omnidirectional Vehicle using Particle Swarm Optimization","display_name":"Trajectory Planning for a Pseudo Omnidirectional Vehicle using Particle Swarm Optimization","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2991527345","doi":"https://doi.org/10.1109/itsc.2019.8917200","mag":"2991527345"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8917200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","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/A5024924624","display_name":"Philip Sch\u00f6rner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Philip Schorner","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050306940","display_name":"Jens Doll","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Doll","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085855772","display_name":"Maximilian Galm","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Galm","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060028048","display_name":"J. Marius Z\u00f6llner","orcid":"https://orcid.org/0000-0001-6190-7202"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Marius Zollner","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024924624"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50860121,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1454","last_page":"1461"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/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/T10879","display_name":"Robotic Locomotion and Control","score":0.9883999824523926,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7160024642944336},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6969693899154663},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6684542894363403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6246604919433594},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5652459859848022},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.549519956111908},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5457432270050049},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5144672393798828},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.43535125255584717},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4249765872955322},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4204411208629608},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33389192819595337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29402512311935425},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27052202820777893},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2289016842842102},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18315035104751587},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15737658739089966},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08950147032737732},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06847324967384338}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7160024642944336},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6969693899154663},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6684542894363403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6246604919433594},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5652459859848022},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.549519956111908},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5457432270050049},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5144672393798828},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.43535125255584717},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4249765872955322},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4204411208629608},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33389192819595337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29402512311935425},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27052202820777893},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2289016842842102},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18315035104751587},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15737658739089966},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08950147032737732},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06847324967384338},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2019.8917200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1914059017","https://openalex.org/W1999426267","https://openalex.org/W2001043306","https://openalex.org/W2031399437","https://openalex.org/W2091231427","https://openalex.org/W2114897272","https://openalex.org/W2130557117","https://openalex.org/W2148361676","https://openalex.org/W2149012351","https://openalex.org/W2177336828","https://openalex.org/W2402846924","https://openalex.org/W2543580944","https://openalex.org/W3013983152","https://openalex.org/W4300106150","https://openalex.org/W6605295560","https://openalex.org/W6639871426","https://openalex.org/W6682642761","https://openalex.org/W6775299407","https://openalex.org/W6963937399"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017","https://openalex.org/W2133833450"],"abstract_inverted_index":{"We":[0],"propose":[1],"an":[2],"online":[3],"motion":[4],"planning":[5],"approach":[6,133],"for":[7,31,57,106,123],"a":[8],"pseudo":[9],"omnidirectional":[10,118],"vehicle":[11,84],"based":[12,35],"on":[13,36,75],"particle":[14,109],"swarm":[15],"optimization.":[16],"Therefore,":[17],"we":[18,28,112],"first":[19],"describe":[20,113],"the":[21,24,32,37,40,43,49,54,58,65,76,80,83,90,102,107,132,139,143],"principles":[22],"behind":[23],"optimization":[25,55],"process.":[26],"Afterwards":[27],"derive":[29],"representations":[30],"vehicle's":[33],"movement":[34,81],"description":[38],"of":[39,42,46,82,93,104,142],"position":[41],"instantaneous":[44],"center":[45],"motion.":[47],"Then,":[48],"mathematical":[50],"operators":[51],"used":[52],"in":[53,79,136],"process":[56],"trajectories":[59,105,119,122],"are":[60],"described":[61],"with":[62,73],"regard":[63],"to":[64,115],"previously":[66],"derived":[67],"representations.":[68],"The":[69],"costfunction":[70],"is":[71,134],"explained":[72],"focus":[74],"new":[77],"opportunities":[78],"like":[85,128],"e.g.":[86],"driving":[87],"sideways.":[88],"However,":[89],"extra":[91],"degree":[92],"freedom":[94],"not":[95],"only":[96],"brings":[97],"benefits,":[98],"but":[99],"also":[100,121],"complicates":[101],"generation":[103],"initial":[108],"swarm.":[110],"Therefore":[111],"how":[114],"efficiently":[116],"sample":[117],"and":[120],"certain":[124],"well":[125],"known":[126],"gaits":[127],"Ackermann":[129],"driving.":[130],"Finally,":[131],"evaluated":[135],"simulation":[137],"showing":[138],"full":[140],"maneuverability":[141],"vehicle.":[144]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}