{"id":"https://openalex.org/W2217054917","doi":"https://doi.org/10.1109/urai.2015.7358965","title":"An Improved Artificial Potential Field-based SImultaneous FORward Search (Improved APF-based SIFORS) method for robot path planning","display_name":"An Improved Artificial Potential Field-based SImultaneous FORward Search (Improved APF-based SIFORS) method for robot path planning","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2217054917","doi":"https://doi.org/10.1109/urai.2015.7358965","mag":"2217054917"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2015.7358965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5028229932","display_name":"Guanghui Li","orcid":"https://orcid.org/0000-0002-6884-5670"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Li","raw_affiliation_strings":["R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011772970","display_name":"Shuiguang Tong","orcid":"https://orcid.org/0000-0001-5908-7401"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuiguang Tong","raw_affiliation_strings":["R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059568087","display_name":"Gang Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Lv","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100905419","display_name":"Renyuan Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renyuan Xiao","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011936038","display_name":"Feiyun Cong","orcid":"https://orcid.org/0000-0003-1727-7164"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feiyun Cong","raw_affiliation_strings":["R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101755865","display_name":"Zhe-Ming Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheming Tong","raw_affiliation_strings":["R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"R&D Center of Mechatronics and Intelligent Control, Zigong Innovation Center of Zhejiang University, Zigong, P. R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"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, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision 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, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9976000189781189,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9894000291824341,"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":0.8112730979919434},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7548855543136597},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.6236090064048767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6124192476272583},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5516517758369446},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.48184192180633545},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.47574421763420105},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4527882933616638},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44085076451301575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41364115476608276},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4112184941768646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2725455164909363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19044700264930725},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06437844038009644}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8112730979919434},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7548855543136597},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.6236090064048767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6124192476272583},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5516517758369446},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.48184192180633545},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.47574421763420105},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4527882933616638},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44085076451301575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41364115476608276},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4112184941768646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2725455164909363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19044700264930725},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06437844038009644},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2015.7358965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W129811753","https://openalex.org/W1513657552","https://openalex.org/W1638373997","https://openalex.org/W1959888603","https://openalex.org/W1974909294","https://openalex.org/W1993718093","https://openalex.org/W2010194128","https://openalex.org/W2031245517","https://openalex.org/W2033713891","https://openalex.org/W2052258220","https://openalex.org/W2078954502","https://openalex.org/W2103120971","https://openalex.org/W2114595091","https://openalex.org/W2150797680","https://openalex.org/W2152951714","https://openalex.org/W2155458348","https://openalex.org/W2157813244","https://openalex.org/W2160645305","https://openalex.org/W2166557125","https://openalex.org/W2314450554","https://openalex.org/W2350812877","https://openalex.org/W2469959886","https://openalex.org/W2516962996","https://openalex.org/W6636948731","https://openalex.org/W6683148899","https://openalex.org/W6683875918"],"related_works":["https://openalex.org/W2333571655","https://openalex.org/W2359600231","https://openalex.org/W1987886368","https://openalex.org/W3122122033","https://openalex.org/W2171409677","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W2365907870","https://openalex.org/W1968185596","https://openalex.org/W2347483803"],"abstract_inverted_index":{"An":[0],"effective":[1],"Improved":[2,64,75,107],"Artificial":[3],"Potential":[4],"Field-based":[5],"SImultaneous":[6,40],"FORward":[7,41],"Search":[8,42],"(Improved":[9],"APF-based":[10,76],"SIFORS)":[11],"method":[12,43,78],"was":[13,19,55],"developed":[14],"in":[15,79],"known":[16],"environment,":[17],"which":[18],"very":[20],"similar":[21],"with":[22],"the":[23,48,59,73],"path":[24,54,89,101],"relaxation":[25],"method.":[26,66],"We":[27],"firstly":[28],"redefined":[29],"potential":[30],"functions":[31],"to":[32,46,102],"calculate":[33,93],"a":[34,39,94,103],"valid":[35],"path,":[36],"then":[37],"proposed":[38,88],"(SIFORS":[44],"method)":[45],"shorten":[47],"distance":[49],"of":[50],"planned":[51],"path.":[52],"Such":[53],"calculated":[56],"by":[57,63],"connecting":[58],"sequential":[60],"points":[61],"produced":[62],"APF":[65,108],"And":[67],"we":[68],"mainly":[69],"focused":[70],"on":[71],"discussing":[72],"Bidirectional":[74],"SIFORS":[77],"this":[80],"paper.":[81],"The":[82],"simulation":[83],"results":[84],"confirmed":[85],"that":[86],"our":[87],"planning":[90],"approach":[91],"could":[92],"shorter,":[95],"collision-free,":[96],"no":[97],"oscillations":[98],"and":[99,111],"safe":[100],"destination":[104],"than":[105],"general":[106],"methods":[109],"can,":[110],"consumed":[112],"few":[113],"computational":[114],"times.":[115]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
