{"id":"https://openalex.org/W3217102923","doi":"https://doi.org/10.1109/tie.2021.3128885","title":"Motion Saliency-Based Collision Avoidance for Mobile Robots in Dynamic Environments","display_name":"Motion Saliency-Based Collision Avoidance for Mobile Robots in Dynamic Environments","publication_year":2021,"publication_date":"2021-11-23","ids":{"openalex":"https://openalex.org/W3217102923","doi":"https://doi.org/10.1109/tie.2021.3128885","mag":"3217102923"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3128885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3128885","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5026462342","display_name":"Binghua Guo","orcid":"https://orcid.org/0000-0001-6110-1110"},"institutions":[{"id":"https://openalex.org/I183816158","display_name":"Zhaoqing University","ror":"https://ror.org/025n5kj18","country_code":"CN","type":"education","lineage":["https://openalex.org/I183816158"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Binghua Guo","raw_affiliation_strings":["Electronics and Information Engineering Department, Zhaoqing University, Zhaoqing, China"],"affiliations":[{"raw_affiliation_string":"Electronics and Information Engineering Department, Zhaoqing University, Zhaoqing, China","institution_ids":["https://openalex.org/I183816158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102801156","display_name":"Nan Guo","orcid":"https://orcid.org/0000-0002-5053-5981"},"institutions":[{"id":"https://openalex.org/I4210120302","display_name":"Shunde Polytechnic","ror":"https://ror.org/01w9d4603","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210120302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Guo","raw_affiliation_strings":["Mechanical and Electrical Engineering Department, Foshan Polytechnic, Foshan, China"],"affiliations":[{"raw_affiliation_string":"Mechanical and Electrical Engineering Department, Foshan Polytechnic, Foshan, China","institution_ids":["https://openalex.org/I4210120302"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057777091","display_name":"Zhisong Cen","orcid":"https://orcid.org/0000-0003-3787-1822"},"institutions":[{"id":"https://openalex.org/I183816158","display_name":"Zhaoqing University","ror":"https://ror.org/025n5kj18","country_code":"CN","type":"education","lineage":["https://openalex.org/I183816158"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhisong Cen","raw_affiliation_strings":["Electronics and Information Engineering Department, Zhaoqing University, Zhaoqing, China"],"affiliations":[{"raw_affiliation_string":"Electronics and Information Engineering Department, Zhaoqing University, Zhaoqing, China","institution_ids":["https://openalex.org/I183816158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026462342"],"corresponding_institution_ids":["https://openalex.org/I183816158"],"apc_list":null,"apc_paid":null,"fwci":0.5764,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.69267974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"69","issue":"12","first_page":"13203","last_page":"13212"},"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":0.9983000159263611,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9914000034332275,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8440995216369629},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7939863801002502},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7516926527023315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6717349290847778},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6531482934951782},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6436159014701843},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6272798776626587},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.611152172088623},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5539867281913757},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4977250397205353},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3386245369911194}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8440995216369629},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7939863801002502},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7516926527023315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6717349290847778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6531482934951782},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6436159014701843},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6272798776626587},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.611152172088623},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5539867281913757},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4977250397205353},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3386245369911194},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2021.3128885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3128885","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1989616359","https://openalex.org/W1997900614","https://openalex.org/W2045210566","https://openalex.org/W2101744728","https://openalex.org/W2141664020","https://openalex.org/W2252095788","https://openalex.org/W2333718310","https://openalex.org/W2593192875","https://openalex.org/W2604209699","https://openalex.org/W2618285870","https://openalex.org/W2624934338","https://openalex.org/W2742364505","https://openalex.org/W2752463559","https://openalex.org/W2770171510","https://openalex.org/W2791730295","https://openalex.org/W2792573551","https://openalex.org/W2793777304","https://openalex.org/W2887143516","https://openalex.org/W2894840253","https://openalex.org/W2909959402","https://openalex.org/W2912361519","https://openalex.org/W2946204547","https://openalex.org/W2946314455","https://openalex.org/W3005951768","https://openalex.org/W3107659409","https://openalex.org/W3134785673","https://openalex.org/W3139047046","https://openalex.org/W3196138626","https://openalex.org/W6691581542"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404"],"abstract_inverted_index":{"Obstacle":[0],"avoidance":[1,17,53,125],"is":[2,38,127],"a":[3,10,50,151],"sizable":[4],"challenge":[5],"for":[6,59],"robots":[7],"working":[8],"in":[9,29,36,108],"multiple":[11],"dynamic":[12,26,60,66,73,78,92,110,121],"obstacle":[13,16,52,124],"environment.":[14],"Conventional":[15],"methods":[18],"often":[19,39],"require":[20],"complex":[21],"calculations":[22],"to":[23,68,86,104,128,155],"process":[24],"all":[25],"obstacles":[27,42,107],"detected":[28],"the":[30,70,83,88,98,109,113,116,134,137,141,144,157],"scene.":[31],"Avoiding":[32],"dangerous":[33,77,91,106],"moving":[34],"objects":[35,67,74,93],"time":[37],"difficult":[40],"when":[41],"are":[43],"many.":[44],"In":[45],"this":[46],"article,":[47],"we":[48,63,81,149],"propose":[49],"robot":[51,138],"method":[54,103],"based":[55],"on":[56],"motion":[57,117],"saliency":[58,71],"environments.":[61],"First,":[62],"use":[64,82],"segmented":[65],"calculate":[69],"of":[72,90,112,119,136,143,153,159],"and":[75,94],"segment":[76],"objects.":[79],"Then,":[80],"B-spline":[84],"curve":[85],"predict":[87],"movement":[89],"combine":[95],"it":[96],"with":[97],"nonlinear":[99],"model":[100],"predictive":[101],"control":[102],"avoid":[105],"environment":[111],"robot.":[114],"Considering":[115],"behavior":[118],"different":[120],"objects,":[122],"our":[123,160],"strategy":[126],"generate":[129],"obstacle-free":[130],"paths":[131],"by":[132],"adjusting":[133],"speed":[135],"or":[139],"connecting":[140],"centers":[142],"rolling":[145],"variable-size":[146],"circles.":[147],"Finally,":[148],"conduct":[150],"series":[152],"experiments":[154],"verify":[156],"effectiveness":[158],"method.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
