{"id":"https://openalex.org/W4404788541","doi":"https://doi.org/10.1109/tie.2024.3497300","title":"A Real-Time Trajectory Generator With 3rd-Order Constraints Satisfaction Through Velocity Mode Evolution","display_name":"A Real-Time Trajectory Generator With 3rd-Order Constraints Satisfaction Through Velocity Mode Evolution","publication_year":2024,"publication_date":"2024-11-27","ids":{"openalex":"https://openalex.org/W4404788541","doi":"https://doi.org/10.1109/tie.2024.3497300"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3497300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3497300","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/A5100678361","display_name":"Mingli Wang","orcid":"https://orcid.org/0000-0001-8376-808X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingli Wang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8376-808X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009901395","display_name":"Juliang Xiao","orcid":"https://orcid.org/0000-0002-8221-8104"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juliang Xiao","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-8221-8104","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091255753","display_name":"Wei Zhao","orcid":"https://orcid.org/0000-0001-7371-4272"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-7371-4272","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100413184","display_name":"Haitao Liu","orcid":"https://orcid.org/0000-0003-3873-1899"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Liu","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-3873-1899","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100678361"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":0.9507,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77349301,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"72","issue":"6","first_page":"6205","last_page":"6214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"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":0.9976999759674072,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9441999793052673,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9354000091552734,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/trajectory","display_name":"Trajectory","score":0.7509717345237732},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5945273637771606},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5774809122085571},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5387739539146423},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.46273741126060486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4329605996608734},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30811381340026855},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26768308877944946},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.2180505096912384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08884862065315247}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7509717345237732},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5945273637771606},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5774809122085571},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5387739539146423},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.46273741126060486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4329605996608734},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30811381340026855},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26768308877944946},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2180505096912384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08884862065315247},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3497300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3497300","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":[],"awards":[{"id":"https://openalex.org/G2553039100","display_name":null,"funder_award_id":"2019YFA0709004","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6169408369","display_name":null,"funder_award_id":"52325501","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6498076882","display_name":null,"funder_award_id":"52175025","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W135568524","https://openalex.org/W1476640653","https://openalex.org/W1990727235","https://openalex.org/W2035651477","https://openalex.org/W2038662471","https://openalex.org/W2093508942","https://openalex.org/W2117571644","https://openalex.org/W2119224729","https://openalex.org/W2145167991","https://openalex.org/W2152457645","https://openalex.org/W2171151351","https://openalex.org/W2207713778","https://openalex.org/W2418080962","https://openalex.org/W2465807434","https://openalex.org/W2553480184","https://openalex.org/W2797121477","https://openalex.org/W2802903870","https://openalex.org/W2894083409","https://openalex.org/W2905747166","https://openalex.org/W2988143910","https://openalex.org/W3174299515","https://openalex.org/W4226027596","https://openalex.org/W4285240788","https://openalex.org/W4396766417","https://openalex.org/W6765163528"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2018977954","https://openalex.org/W2383765668"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,12,112,137,147],"new":[4],"real-time":[5,120],"trajectory":[6,27],"generator,":[7],"RTG-VM,":[8],"aimed":[9],"at":[10,123],"enabling":[11],"robot":[13,141],"to":[14,19,81],"respond":[15],"quickly":[16],"and":[17,23,45,65],"smoothly":[18],"sudden":[20],"external":[21],"commands":[22],"adjust":[24],"the":[25,58,71,83,93,104,106,144],"original":[26],"in":[28],"real-time.":[29],"It":[30],"is":[31,75,101,115,122,134],"based":[32],"on":[33,136],"velocity":[34,51],"mode":[35,52],"evolution,":[36],"which":[37],"rapidly":[38],"plans":[39],"time-optimal":[40,63],"trajectories":[41],"between":[42],"arbitrary":[43],"initial":[44,67],"final":[46],"motion":[47],"states.":[48],"Initially,":[49],"two":[50],"(VM)":[53],"planning":[54,99],"methods":[55],"without":[56],"considering":[57],"target":[59,85],"displacement":[60],"are":[61],"studied:":[62],"VM":[64,72],"reverse":[66],"jerk":[68],"VM.":[69],"Subsequently,":[70],"acceleration":[73,96],"profile":[74],"adjusted":[76],"with":[77],"minimal":[78],"time":[79,108],"cost":[80],"reach":[82],"desired":[84],"displacement.":[86],"Finally,":[87,131],"an":[88,132],"effective":[89],"topological":[90],"structure":[91],"of":[92,95,109,129,146],"evolution":[94],"types":[97],"over":[98],"times":[100],"presented.":[102],"In":[103],"experiments,":[105],"computation":[107],"RTG-VM":[110],"for":[111],"single":[113],"axis":[114],"about":[116],"one":[117],"microsecond.":[118],"Its":[119],"performance":[121],"least":[124],"38%":[125],"better":[126],"than":[127],"that":[128],"Ruckig.":[130],"experiment":[133],"conducted":[135],"5-degree-of":[138],"-freedom":[139],"hybrid":[140],"passing":[142],"through":[143],"vicinity":[145],"singular":[148],"configuration.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}