{"id":"https://openalex.org/W4309228385","doi":"https://doi.org/10.1109/niles56402.2022.9942396","title":"Hybrid optimal path planning and obstacle avoidance for 3 omni wheels mobile robot","display_name":"Hybrid optimal path planning and obstacle avoidance for 3 omni wheels mobile robot","publication_year":2022,"publication_date":"2022-10-22","ids":{"openalex":"https://openalex.org/W4309228385","doi":"https://doi.org/10.1109/niles56402.2022.9942396"},"language":"en","primary_location":{"id":"doi:10.1109/niles56402.2022.9942396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/niles56402.2022.9942396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 4th Novel Intelligent and Leading Emerging Sciences Conference (NILES)","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/A5091905624","display_name":"Rokaya Osama Mohammed","orcid":"https://orcid.org/0000-0002-3271-1507"},"institutions":[{"id":"https://openalex.org/I57629906","display_name":"Nile University","ror":"https://ror.org/03cg7cp61","country_code":"EG","type":"education","lineage":["https://openalex.org/I57629906"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Rokaya Osama Mohammed","raw_affiliation_strings":["MECT Program, School of EAS, Nile University,Elsheikh Zayed,Egypt","MECT Program, School of EAS, Nile University, Elsheikh Zayed, Egypt"],"raw_orcid":"https://orcid.org/0000-0002-3271-1507","affiliations":[{"raw_affiliation_string":"MECT Program, School of EAS, Nile University,Elsheikh Zayed,Egypt","institution_ids":["https://openalex.org/I57629906"]},{"raw_affiliation_string":"MECT Program, School of EAS, Nile University, Elsheikh Zayed, Egypt","institution_ids":["https://openalex.org/I57629906"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038814221","display_name":"Arfa Abdouraman","orcid":null},"institutions":[{"id":"https://openalex.org/I57629906","display_name":"Nile University","ror":"https://ror.org/03cg7cp61","country_code":"EG","type":"education","lineage":["https://openalex.org/I57629906"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Arfa Abdouraman","raw_affiliation_strings":["MECT Program, School of EAS, Nile University,Elsheikh Zayed,Egypt","MECT Program, School of EAS, Nile University, Elsheikh Zayed, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MECT Program, School of EAS, Nile University,Elsheikh Zayed,Egypt","institution_ids":["https://openalex.org/I57629906"]},{"raw_affiliation_string":"MECT Program, School of EAS, Nile University, Elsheikh Zayed, Egypt","institution_ids":["https://openalex.org/I57629906"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084347502","display_name":"Hossam Hassan Ammar","orcid":"https://orcid.org/0000-0003-2843-3716"},"institutions":[{"id":"https://openalex.org/I57629906","display_name":"Nile University","ror":"https://ror.org/03cg7cp61","country_code":"EG","type":"education","lineage":["https://openalex.org/I57629906"]},{"id":"https://openalex.org/I63601056","display_name":"Menoufia University","ror":"https://ror.org/05sjrb944","country_code":"EG","type":"education","lineage":["https://openalex.org/I63601056"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Hossam Hassan Ammar","raw_affiliation_strings":["MECT Program, School of EAS, Nile University,Elsheikh Zayed,Egypt","Faculty of Electronic Engineering, Menofia Uni, Menouf, Egypt","MECT Program, School of EAS, Nile University, Elsheikh Zayed, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MECT Program, School of EAS, Nile University,Elsheikh Zayed,Egypt","institution_ids":["https://openalex.org/I57629906"]},{"raw_affiliation_string":"Faculty of Electronic Engineering, Menofia Uni, Menouf, Egypt","institution_ids":["https://openalex.org/I63601056"]},{"raw_affiliation_string":"MECT Program, School of EAS, Nile University, Elsheikh Zayed, Egypt","institution_ids":["https://openalex.org/I57629906"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081286967","display_name":"Raafat Shalaby","orcid":"https://orcid.org/0000-0002-3639-3665"},"institutions":[{"id":"https://openalex.org/I57629906","display_name":"Nile University","ror":"https://ror.org/03cg7cp61","country_code":"EG","type":"education","lineage":["https://openalex.org/I57629906"]},{"id":"https://openalex.org/I63601056","display_name":"Menoufia University","ror":"https://ror.org/05sjrb944","country_code":"EG","type":"education","lineage":["https://openalex.org/I63601056"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Raafat Shalaby","raw_affiliation_strings":["School of EAS, Nile University,SESC Center& MECT Program,Elsheikh Zayed,Egypt","Faculty of Electronic Engineering, Menofia Uni, Menouf, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of EAS, Nile University,SESC Center& MECT Program,Elsheikh Zayed,Egypt","institution_ids":["https://openalex.org/I57629906"]},{"raw_affiliation_string":"Faculty of Electronic Engineering, Menofia Uni, Menouf, Egypt","institution_ids":["https://openalex.org/I63601056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4424,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52312015,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"302","last_page":"305"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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":0.9955000281333923,"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/mobile-robot","display_name":"Mobile robot","score":0.8307043313980103},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.822007954120636},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7500909566879272},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7313137054443359},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7156951427459717},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6828699707984924},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.672623872756958},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5472221374511719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5207324028015137},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5072900652885437},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5046144723892212},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.49932050704956055},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.44374188780784607},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44000324606895447},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35981130599975586},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08532467484474182}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8307043313980103},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.822007954120636},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7500909566879272},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7313137054443359},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7156951427459717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6828699707984924},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.672623872756958},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5472221374511719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5207324028015137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5072900652885437},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5046144723892212},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.49932050704956055},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.44374188780784607},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44000324606895447},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35981130599975586},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08532467484474182},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/niles56402.2022.9942396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/niles56402.2022.9942396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 4th Novel Intelligent and Leading Emerging Sciences Conference (NILES)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W2138514303","https://openalex.org/W2161587726","https://openalex.org/W2344992120","https://openalex.org/W2906444832"],"related_works":["https://openalex.org/W2950170662","https://openalex.org/W2158014010","https://openalex.org/W2098422130","https://openalex.org/W2091332456","https://openalex.org/W2033579450","https://openalex.org/W2098508993","https://openalex.org/W4317793352","https://openalex.org/W1966946165","https://openalex.org/W4309228385","https://openalex.org/W4313339040"],"abstract_inverted_index":{"Holonomic":[0],"robots":[1],"are":[2],"advantageous":[3],"in":[4,10],"several":[5],"applications.":[6],"The":[7,27,48,64],"work":[8],"presented":[9],"this":[11],"paper":[12],"performs":[13],"the":[14,40,52,68,71],"simulation":[15],"of":[16,70],"a":[17],"3":[18],"omni":[19],"wheel":[20],"mobile":[21],"robot":[22,29,49],"using":[23],"MATLAB":[24],"and":[25,33,38,57],"V-REP.":[26],"simulated":[28],"contains":[30],"proximity":[31],"sensors":[32],"cameras":[34],"for":[35,45],"obstacle":[36],"detection":[37],"uses":[39],"Artificial":[41],"Potential":[42],"Field":[43],"algorithm":[44],"path":[46],"planning.":[47],"can":[50],"map":[51],"surrounding":[53],"environment":[54],"while":[55],"deviates":[56],"categorizes":[58],"obstacles":[59],"previously":[60],"known":[61],"or":[62],"not.":[63],"results":[65],"strongly":[66],"suggest":[67],"effectiveness":[69],"proposed":[72],"methodology.":[73]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}