{"id":"https://openalex.org/W4391496230","doi":"https://doi.org/10.1109/m2vip58386.2023.10413435","title":"The Navigation Based on Hybrid A Star and TEB Algorithm Implemented in Obstacles Avoidance","display_name":"The Navigation Based on Hybrid A Star and TEB Algorithm Implemented in Obstacles Avoidance","publication_year":2023,"publication_date":"2023-11-21","ids":{"openalex":"https://openalex.org/W4391496230","doi":"https://doi.org/10.1109/m2vip58386.2023.10413435"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip58386.2023.10413435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip58386.2023.10413435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","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/A5019528428","display_name":"Hongzhang Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongzhang Zheng","raw_affiliation_strings":["School of Mechanical Engineering Southeast University Nanjing,China","School of Mechanical Engineering Southeast University Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112121793","display_name":"Min Dai","orcid":"https://orcid.org/0000-0002-1301-7982"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Dai","raw_affiliation_strings":["School of Mechanical Engineering Southeast University Nanjing,China","School of Mechanical Engineering Southeast University Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100643309","display_name":"Zhisheng Zhang","orcid":"https://orcid.org/0000-0002-3742-0880"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhisheng Zhang","raw_affiliation_strings":["School of Mechanical Engineering Southeast University Nanjing,China","School of Mechanical Engineering Southeast University Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103102000","display_name":"Zhijie Xia","orcid":"https://orcid.org/0000-0001-6946-8937"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijie Xia","raw_affiliation_strings":["School of Mechanical Engineering Southeast University Nanjing,China","School of Mechanical Engineering Southeast University Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029573738","display_name":"Guifu Zhang","orcid":"https://orcid.org/0000-0002-0261-2815"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guifu Zhang","raw_affiliation_strings":["School of Mechanical Engineering Southeast University Nanjing,China","School of Mechanical Engineering Southeast University Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102083977","display_name":"Fang Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Jia","raw_affiliation_strings":["School of Mechanical Engineering Southeast University Nanjing,China","School of Mechanical Engineering Southeast University Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering Southeast University Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5019528428"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":1.3849,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.84009563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9994999766349792,"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":0.9865000247955322,"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/robot","display_name":"Robot","score":0.7789018154144287},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7057236433029175},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6945198178291321},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.6311748027801514},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6222138404846191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6166962385177612},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5499005317687988},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5370508432388306},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5295950770378113},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.526918351650238},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5115595459938049},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.509454071521759},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48380106687545776},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4283144474029541},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36720114946365356},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3534563183784485},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3186696171760559},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07780656218528748}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7789018154144287},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7057236433029175},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6945198178291321},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.6311748027801514},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6222138404846191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6166962385177612},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5499005317687988},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5370508432388306},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5295950770378113},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.526918351650238},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5115595459938049},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.509454071521759},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48380106687545776},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4283144474029541},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36720114946365356},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3534563183784485},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3186696171760559},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07780656218528748},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/m2vip58386.2023.10413435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip58386.2023.10413435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2117211893","https://openalex.org/W2145089737","https://openalex.org/W2212786010","https://openalex.org/W2785456474","https://openalex.org/W3123139907","https://openalex.org/W3135029007","https://openalex.org/W3211607600","https://openalex.org/W4210575103","https://openalex.org/W4304092458","https://openalex.org/W4312285341"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W2102947728"],"abstract_inverted_index":{"Taking":[0],"driverless":[1,27],"and":[2,15,26,83,117,120,131,157,176],"autonomous":[3,70],"navigation":[4,97,135],"as":[5,18,51],"an":[6,31],"example,":[7],"artificial":[8],"intelligence":[9],"has":[10],"gradually":[11],"entered":[12],"people's":[13,36],"vision,":[14],"applications":[16],"such":[17],"sweeping":[19],"robots,":[20,22,25],"rescue":[21],"safety":[23],"inspection":[24],"cars":[28],"are":[29,49,92],"playing":[30],"increasingly":[32],"important":[33,145],"role":[34],"in":[35],"daily":[37],"life.":[38],"In":[39],"this":[40,106],"paper,":[41],"two-dimensional":[42],"Lidar,":[43],"depth":[44],"camera,":[45],"odometer":[46],"system,":[47],"etc.":[48],"used":[50,93],"the":[52,57,69,74,96,100,103,110,122,126,138,151,155,169,173,177,182],"sensor":[53],"input":[54],"data":[55],"of":[56,73,99,125,137,154],"robot.":[58,75,101],"AMCL":[59],"(Adaptive":[60],"Monte":[61],"Carlo":[62],"Localization)":[63],"method":[64],"is":[65,140],"adopted":[66],"to":[67,94,143],"establish":[68],"positioning":[71],"function":[72,98,136],"Hybrid":[76],"A":[77],"Star":[78],"global":[79],"path":[80,89,123],"planning":[81,90,124],"algorithm":[82,91],"TEB":[84],"(Time":[85],"Elastic":[86],"Band)":[87],"local":[88],"realize":[95],"For":[102],"indoor":[104],"environment,":[105,112],"paper":[107],"mainly":[108],"selects":[109],"laboratory":[111],"sets":[113],"different":[114],"starting":[115],"points":[116],"ending":[118],"points,":[119],"evaluates":[121],"robot":[127,139,156,170],"under":[128,181],"static":[129,174],"obstacles":[130,160],"dynamic":[132,159,178],"obstacles.":[133],"The":[134,164],"tested":[141],"according":[142],"two":[144],"indexes:":[146],"whether":[147,158],"collision":[148],"occurs":[149],"during":[150],"actual":[152],"movement":[153],"can":[161,171],"be":[162],"avoided.":[163],"experimental":[165],"results":[166],"show":[167],"that":[168],"avoid":[172],"obstacle":[175,179],"well":[180],"above":[183],"scheme.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
