{"id":"https://openalex.org/W2890765305","doi":"https://doi.org/10.1109/tii.2018.2870662","title":"Adaptive Motion Planning Based on Vehicle Characteristics and Regulations for Off-Road UGVs","display_name":"Adaptive Motion Planning Based on Vehicle Characteristics and Regulations for Off-Road UGVs","publication_year":2018,"publication_date":"2018-09-17","ids":{"openalex":"https://openalex.org/W2890765305","doi":"https://doi.org/10.1109/tii.2018.2870662","mag":"2890765305"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2018.2870662","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2018.2870662","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/8602464/08466595.pdf","source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/9424/8602464/08466595.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090163777","display_name":"Yonghoon Ji","orcid":"https://orcid.org/0000-0002-0828-6627"},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yonghoon Ji","raw_affiliation_strings":["Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0828-6627","affiliations":[{"raw_affiliation_string":"Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101587887","display_name":"Yusuke Tanaka","orcid":"https://orcid.org/0000-0001-9199-567X"},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Tanaka","raw_affiliation_strings":["Toyota Motor Corporation, Toyota, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Motor Corporation, Toyota, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089543204","display_name":"Yusuke Tamura","orcid":"https://orcid.org/0000-0003-2981-7578"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Tamura","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2981-7578","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026952613","display_name":"Mai Kimura","orcid":"https://orcid.org/0009-0006-0720-4294"},"institutions":[{"id":"https://openalex.org/I4210101228","display_name":"IHI Corporation (Japan)","ror":"https://ror.org/018nb9n34","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210101228"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mai Kimura","raw_affiliation_strings":["IHI Corporation, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IHI Corporation, Yokohama, Japan","institution_ids":["https://openalex.org/I4210101228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077659484","display_name":"Atsushi Umemura","orcid":null},"institutions":[{"id":"https://openalex.org/I2800271857","display_name":"Sumco Corporation (Japan)","ror":"https://ror.org/01yp72g57","country_code":"JP","type":"company","lineage":["https://openalex.org/I2800271857"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Umemura","raw_affiliation_strings":["Silicon Studio Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Silicon Studio Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I2800271857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013686571","display_name":"Yoshiharu Kaneshima","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101228","display_name":"IHI Corporation (Japan)","ror":"https://ror.org/018nb9n34","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210101228"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiharu Kaneshima","raw_affiliation_strings":["IHI Corporation, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IHI Corporation, Yokohama, Japan","institution_ids":["https://openalex.org/I4210101228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012398807","display_name":"Hiroki Murakami","orcid":"https://orcid.org/0000-0002-3074-9528"},"institutions":[{"id":"https://openalex.org/I4210101228","display_name":"IHI Corporation (Japan)","ror":"https://ror.org/018nb9n34","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210101228"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Murakami","raw_affiliation_strings":["IHI Corporation, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IHI Corporation, Yokohama, Japan","institution_ids":["https://openalex.org/I4210101228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021260328","display_name":"Atsushi Yamashita","orcid":"https://orcid.org/0000-0003-1280-069X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Yamashita","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1280-069X","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064103302","display_name":"Hajime Asama","orcid":"https://orcid.org/0000-0002-9482-497X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hajime Asama","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9482-497X","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.166,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.84032445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"15","issue":"1","first_page":"599","last_page":"611"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.994700014591217,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.991599977016449,"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/motion-planning","display_name":"Motion planning","score":0.8749128580093384},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8457076549530029},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.617211639881134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5812220573425293},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.551432192325592},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48138192296028137},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.46933168172836304},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4208527207374573},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3958553671836853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3757964074611664},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3534022569656372},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29193052649497986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23214948177337646},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.18552273511886597},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11031115055084229}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8749128580093384},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8457076549530029},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.617211639881134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5812220573425293},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.551432192325592},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48138192296028137},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.46933168172836304},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4208527207374573},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3958553671836853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3757964074611664},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3534022569656372},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29193052649497986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23214948177337646},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.18552273511886597},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11031115055084229},{"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2018.2870662","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2018.2870662","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/8602464/08466595.pdf","source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tii.2018.2870662","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2018.2870662","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/8602464/08466595.pdf","source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G5626462406","display_name":null,"funder_award_id":"2015-PM07-02-01","funder_id":"https://openalex.org/F4320325854","funder_display_name":"Council for Science, Technology and Innovation"}],"funders":[{"id":"https://openalex.org/F4320321474","display_name":"Cabinet Office, Government of Japan","ror":"https://ror.org/007f5s288"},{"id":"https://openalex.org/F4320325854","display_name":"Council for Science, Technology and Innovation","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2890765305.pdf","grobid_xml":"https://content.openalex.org/works/W2890765305.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W22661957","https://openalex.org/W131069610","https://openalex.org/W1567710201","https://openalex.org/W1601486864","https://openalex.org/W1971086298","https://openalex.org/W1972671602","https://openalex.org/W2004139909","https://openalex.org/W2015531508","https://openalex.org/W2020426055","https://openalex.org/W2049311972","https://openalex.org/W2060075193","https://openalex.org/W2072195747","https://openalex.org/W2096246174","https://openalex.org/W2103120971","https://openalex.org/W2104901262","https://openalex.org/W2128047119","https://openalex.org/W2128990851","https://openalex.org/W2133844819","https://openalex.org/W2143220699","https://openalex.org/W2154844948","https://openalex.org/W2156067790","https://openalex.org/W2165216595","https://openalex.org/W2172133054","https://openalex.org/W2210721416","https://openalex.org/W2536345913","https://openalex.org/W2564726206","https://openalex.org/W3083291418","https://openalex.org/W3212743282","https://openalex.org/W6600878722","https://openalex.org/W6674472862","https://openalex.org/W6678808297"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,29,38,74,84,105],"novel":[6],"motion":[7,26,116],"planning":[8,27],"method":[9,68],"for":[10],"off-road":[11,115],"unmanned":[12],"ground":[13],"vehicles,":[14],"based":[15,93,103],"on":[16,24,32,104],"three-dimensional":[17],"(3-D)":[18],"terrain":[19,34],"map":[20],"information.":[21],"Previous":[22],"studies":[23],"the":[25,81,113],"of":[28],"vehicle":[30,44,78,125],"traveling":[31],"rough":[33,88],"dealt":[35],"only":[36],"with":[37,87],"relatively":[39],"small":[40],"environment.":[41],"Furthermore,":[42],"unique":[43],"characteristics":[45,79,126],"were":[46],"not":[47],"considered,":[48],"and":[49,62,80,127],"it":[50],"was":[51,95],"also":[52],"impossible":[53],"to":[54,71,97],"incorporate":[55],"regulations,":[56,82],"such":[57],"as":[58],"maintaining":[59],"driving":[60],"speed":[61],"suppressing":[63],"posture":[64],"change.":[65],"The":[66],"proposed":[67,114],"enables":[69],"vehicles":[70],"adaptively":[72],"generate":[73,119],"path":[75,101],"by":[76],"considering":[77],"in":[83],"large-scale":[85],"environment,":[86],"terrain.":[89],"A":[90],"random":[91],"sampling":[92],"scheme":[94],"applied":[96],"carrying":[98],"out":[99],"global":[100],"planning,":[102],"3-D":[106],"environmental":[107],"model.":[108],"Experimental":[109],"results":[110],"showed":[111],"that":[112],"planner":[117],"could":[118],"an":[120],"appropriate":[121],"path,":[122],"which":[123],"satisfies":[124],"predefined":[128],"regulations.":[129]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
