{"id":"https://openalex.org/W2132556676","doi":"https://doi.org/10.1109/robio.2009.5420681","title":"Autonomous indoor exploration of mobile robots based on door-guidance and improved dynamic window approach","display_name":"Autonomous indoor exploration of mobile robots based on door-guidance and improved dynamic window approach","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2132556676","doi":"https://doi.org/10.1109/robio.2009.5420681","mag":"2132556676"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5044920508","display_name":"Haiqiang Zhang","orcid":"https://orcid.org/0000-0003-0371-5872"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haiqiang Zhang","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, Beijing, CN","School of Automation Beijing Institute of Technology  Beijing 100081 China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology  Beijing 100081 China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104108147","display_name":"Lihua Dou","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihua Dou","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, Beijing, CN","School of Automation Beijing Institute of Technology  Beijing 100081 China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology  Beijing 100081 China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hao Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Fang","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, Beijing, CN","School of Automation Beijing Institute of Technology  Beijing 100081 China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology  Beijing 100081 China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100333005","display_name":"Jie Chen","orcid":"https://orcid.org/0000-0003-2449-9793"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Chen","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, Beijing, CN","School of Automation Beijing Institute of Technology  Beijing 100081 China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology  Beijing 100081 China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044920508"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.16903947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"408","last_page":"413"},"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":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9904999732971191,"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/computer-science","display_name":"Computer science","score":0.7683935761451721},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7279301285743713},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.7093192338943481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6605043411254883},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.5918483138084412},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5701637268066406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5467705130577087},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.48455730080604553},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4481024146080017},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44546380639076233},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41753214597702026},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.41600915789604187},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2602255046367645},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06169512867927551}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7683935761451721},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7279301285743713},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.7093192338943481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6605043411254883},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.5918483138084412},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5701637268066406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5467705130577087},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.48455730080604553},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4481024146080017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44546380639076233},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41753214597702026},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.41600915789604187},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2602255046367645},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06169512867927551},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/robio.2009.5420681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W204411021","https://openalex.org/W1986785016","https://openalex.org/W1992083653","https://openalex.org/W2006393681","https://openalex.org/W2015969523","https://openalex.org/W2032185879","https://openalex.org/W2096078692","https://openalex.org/W2098914933","https://openalex.org/W2108239802","https://openalex.org/W2112678462","https://openalex.org/W2117211893","https://openalex.org/W2117678393","https://openalex.org/W2131505299","https://openalex.org/W2137088997","https://openalex.org/W2144941043","https://openalex.org/W2150839555","https://openalex.org/W2157769788","https://openalex.org/W6608394084","https://openalex.org/W6674452891","https://openalex.org/W6682681919"],"related_works":["https://openalex.org/W1521225173","https://openalex.org/W2095605744","https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W2618466475","https://openalex.org/W3081536868"],"abstract_inverted_index":{"A":[0],"two-layer":[1],"navigation":[2,87],"architecture":[3,98],"for":[4,20],"autonomous":[5,130],"indoor":[6,14,131],"exploration":[7],"is":[8],"proposed.":[9],"As":[10],"doors":[11,33],"in":[12,34],"the":[13,22,47,54,68,89,108,113,122,127],"environments":[15],"are":[16],"ubiquitous":[17],"and":[18,51,73,84,112,121],"informative":[19],"navigation,":[21],"high-level":[23,82],"layer":[24,45],"uses":[25],"a":[26,38,93,102],"stereo":[27],"vision":[28],"based":[29],"algorithm":[30,111],"to":[31,36,53,91],"detect":[32],"order":[35],"generate":[37],"series":[39],"of":[40,71,81,129],"goal":[41,55],"points.":[42],"The":[43,79,96],"low-level":[44,85],"makes":[46],"robot":[48,90,123],"avoid":[49],"obstacles":[50],"navigate":[52],"points":[56],"by":[57],"an":[58],"improved":[59,114],"dynamic":[60],"window":[61],"approach":[62,65],"(DWA).":[63],"This":[64],"can":[66,74,124],"solve":[67],"local-minima":[69],"problem":[70],"DWA":[72,115],"obtain":[75],"smooth":[76],"motion":[77],"controls.":[78],"combination":[80],"door-guidance":[83],"goal-directed":[86],"enables":[88],"make":[92],"door-to-door":[94],"exploration.":[95,132],"proposed":[97],"was":[99],"implemented":[100],"on":[101],"Pioneer3":[103],"robot.":[104],"Experiments":[105],"show":[106],"that":[107],"door":[109],"detection":[110],"work":[116],"reliably":[117],"under":[118],"various":[119],"environments,":[120],"efficiently":[125],"fulfill":[126],"task":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2025-10-10T00:00:00"}
