{"id":"https://openalex.org/W1586716319","doi":"https://doi.org/10.1109/syscon.2015.7116813","title":"Stable path planning algorithm for avoidance of dynamic obstacles","display_name":"Stable path planning algorithm for avoidance of dynamic obstacles","publication_year":2015,"publication_date":"2015-04-01","ids":{"openalex":"https://openalex.org/W1586716319","doi":"https://doi.org/10.1109/syscon.2015.7116813","mag":"1586716319"},"language":"en","primary_location":{"id":"doi:10.1109/syscon.2015.7116813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2015.7116813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 Annual IEEE Systems Conference (SysCon) Proceedings","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/A5029783039","display_name":"Won\u2010Seok Kang","orcid":"https://orcid.org/0000-0002-1034-454X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Won-Seok Kang","raw_affiliation_strings":["Wellness Convergence Research Center DGIST, Daegu, South Korea","Wellness Convergence Research Center, DGIST, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wellness Convergence Research Center DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Wellness Convergence Research Center, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111387643","display_name":"Sanghun Yun","orcid":null},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sanghun Yun","raw_affiliation_strings":["Wellness Convergence Research Center DGIST, Daegu, South Korea","Wellness Convergence Research Center, DGIST, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wellness Convergence Research Center DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Wellness Convergence Research Center, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056644601","display_name":"Hyung-Oh Kwon","orcid":null},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyung-Oh Kwon","raw_affiliation_strings":["Wellness Convergence Research Center DGIST, Daegu, South Korea","Wellness Convergence Research Center, DGIST, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wellness Convergence Research Center DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Wellness Convergence Research Center, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070941528","display_name":"Rock-Hyun Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Rock-hyun Choi","raw_affiliation_strings":["Wellness Convergence Research Center DGIST, Daegu, South Korea","Wellness Convergence Research Center, DGIST, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wellness Convergence Research Center DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Wellness Convergence Research Center, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063553716","display_name":"Chang\u2010Sik Son","orcid":"https://orcid.org/0000-0001-5682-1770"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chang-Sik Son","raw_affiliation_strings":["Wellness Convergence Research Center DGIST, Daegu, South Korea","Wellness Convergence Research Center, DGIST, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wellness Convergence Research Center DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Wellness Convergence Research Center, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010775517","display_name":"Dong Ha Lee","orcid":"https://orcid.org/0000-0002-6934-1247"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Ha Lee","raw_affiliation_strings":["Wellness Convergence Research Center DGIST, Daegu, South Korea","Wellness Convergence Research Center, DGIST, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wellness Convergence Research Center DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]},{"raw_affiliation_string":"Wellness Convergence Research Center, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193352282"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"578","last_page":"581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/motion-planning","display_name":"Motion planning","score":0.7707515358924866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6374624371528625},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6360453963279724},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.6085619926452637},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6080443859100342},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5838661789894104},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5564000606536865},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5199864506721497},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.45920971035957336},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4419354796409607},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4336034059524536},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4148319363594055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38124996423721313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3275359570980072},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21914371848106384},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1490618884563446},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10279086232185364}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7707515358924866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6374624371528625},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6360453963279724},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.6085619926452637},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6080443859100342},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5838661789894104},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5564000606536865},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5199864506721497},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.45920971035957336},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4419354796409607},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4336034059524536},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4148319363594055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38124996423721313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3275359570980072},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21914371848106384},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1490618884563446},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10279086232185364},{"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/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon.2015.7116813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2015.7116813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 Annual IEEE Systems Conference (SysCon) Proceedings","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320326308","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W102643478","https://openalex.org/W1534964335","https://openalex.org/W1957996277","https://openalex.org/W2031307732","https://openalex.org/W2086803478","https://openalex.org/W2153736474","https://openalex.org/W2154929945","https://openalex.org/W2170509678","https://openalex.org/W2250706791","https://openalex.org/W2536648895","https://openalex.org/W6632201914","https://openalex.org/W6729160934","https://openalex.org/W6999665956"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2906946336","https://openalex.org/W3119736302","https://openalex.org/W2938416672","https://openalex.org/W3200041777","https://openalex.org/W2146611987","https://openalex.org/W4386464271","https://openalex.org/W4389432327","https://openalex.org/W2153702122"],"abstract_inverted_index":{"Previous":[0],"research":[1],"of":[2,45,54,98],"path":[3,40],"planning":[4,41],"has":[5],"focused":[6],"mainly":[7],"on":[8,27,68,86],"finding":[9,69,76],"shortest":[10,77],"paths":[11,78,113],"or":[12,29,79],"smallest":[13,80],"movements.":[14,81],"These":[15],"methods,":[16],"however,":[17],"have":[18],"poor":[19],"stability":[20,73],"characteristics":[21],"when":[22],"dynamic":[23,46,62,117,128,137],"obstacles":[24,100],"are":[25],"considered":[26],"real-life":[28],"in-body":[30],"map's":[31],"environments.":[32],"In":[33,119],"this":[34,108],"paper,":[35],"we":[36,125],"suggest":[37],"a":[38,55,61],"stable":[39,59,112],"algorithm":[42,83],"for":[43,72],"avoidance":[44],"obstacles.":[47,118],"The":[48,82],"proposed":[49],"method":[50,109],"makes":[51],"the":[52,96,127],"movement":[53],"mobile":[56,103],"robot":[57],"more":[58],"in":[60,101,132],"environment.":[63],"Our":[64],"focus":[65],"is":[66,84],"based":[67,85],"optimal":[70],"movements":[71],"rather":[74],"than":[75],"Genetic":[87],"Algorithm":[88],"(GA)":[89],"and":[90,135],"uses":[91],"k-means":[92,133],"clustering":[93,134],"to":[94,121],"recognize":[95],"distribution":[97],"dynamics":[99],"various":[102],"space.":[104],"Simulation":[105],"results":[106],"confirm":[107],"can":[110],"determine":[111],"through":[114],"environments":[115],"involving":[116],"order":[120],"validate":[122],"our":[123],"results,":[124],"compared":[126],"k":[129],"values":[130],"used":[131],"grid-based":[136],"cell":[138],"sizes":[139],"from":[140],"several":[141],"test":[142],"sets.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}