{"id":"https://openalex.org/W2024668666","doi":"https://doi.org/10.1109/urai.2011.6145929","title":"A path planning algorithm using artificial potential field based on probability map","display_name":"A path planning algorithm using artificial potential field based on probability map","publication_year":2011,"publication_date":"2011-11-01","ids":{"openalex":"https://openalex.org/W2024668666","doi":"https://doi.org/10.1109/urai.2011.6145929","mag":"2024668666"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2011.6145929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5100386965","display_name":"Minho Kim","orcid":"https://orcid.org/0000-0002-9504-5935"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Ho Kim","raw_affiliation_strings":["Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, South Korea","Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, 609-735, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, 609-735, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083923897","display_name":"Jung-Hun Heo","orcid":null},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung-Hun Heo","raw_affiliation_strings":["Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, South Korea","Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, 609-735, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, 609-735, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010644013","display_name":"Yuanlong Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yuanlong Wei","raw_affiliation_strings":["Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, South Korea","Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, 609-735, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University, Busan, 609-735, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045517532","display_name":"Min\u2010Cheol Lee","orcid":"https://orcid.org/0000-0002-9145-9700"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Cheol Lee","raw_affiliation_strings":["School of Mechanical Engineering, Pusan National University, Busan, South Korea","School of Mechanical Engineering, Pusan National University, Busan 609-735, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Pusan National University, Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"School of Mechanical Engineering, Pusan National University, Busan 609-735, Korea","institution_ids":["https://openalex.org/I4921948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4921948"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.09594294,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"41","last_page":"43"},"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"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":0.9272445440292358},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7794305086135864},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.7774704694747925},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7742291688919067},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6822593808174133},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6594529151916504},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5250822305679321},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5182104706764221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4922873079776764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46868661046028137},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.46554502844810486},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4157503843307495},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.41476017236709595},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33954674005508423},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33333620429039},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21771734952926636}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.9272445440292358},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7794305086135864},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.7774704694747925},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7742291688919067},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6822593808174133},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6594529151916504},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5250822305679321},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5182104706764221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4922873079776764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46868661046028137},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.46554502844810486},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4157503843307495},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.41476017236709595},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33954674005508423},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33333620429039},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21771734952926636},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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/urai.2011.6145929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"},{"id":"https://openalex.org/F4320324161","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1955308247","https://openalex.org/W2103120971","https://openalex.org/W2150982344","https://openalex.org/W2154722715","https://openalex.org/W4247582681"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2015961810","https://openalex.org/W2333571655","https://openalex.org/W3119736302","https://openalex.org/W2956606787","https://openalex.org/W3122122033","https://openalex.org/W2171409677","https://openalex.org/W2365907870","https://openalex.org/W1968185596","https://openalex.org/W2347483803"],"abstract_inverted_index":{"Path":[0],"planning":[1,16,66],"problem":[2],"is":[3,23,41],"the":[4,8,14,18,64,72,83],"major":[5],"issue":[6],"of":[7,10],"control":[9,36],"mobile":[11,27],"robot.":[12],"Among":[13],"path":[15,65],"methods":[17],"artificial":[19],"potential":[20,69],"field":[21,70],"theory":[22],"widely":[24],"used":[25],"for":[26],"robots,":[28],"because":[29,48],"it":[30,40],"provides":[31],"simple":[32],"and":[33,81],"effective":[34],"motion":[35],"input.":[37],"But":[38],"sometimes":[39],"hard":[42],"to":[43],"detect":[44,57],"exact":[45],"obstacle":[46,50],"shape,":[47],"some":[49],"can":[51,56],"move":[52],"itself,":[53],"thus":[54],"we":[55,62,77],"its":[58],"probability":[59,73],"only.":[60],"So":[61],"suggest":[63],"method":[67],"using":[68],"with":[71],"information.":[74],"After":[75],"that":[76],"simulate":[78],"our":[79],"algorithm":[80],"show":[82],"results.":[84]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}