{"id":"https://openalex.org/W2121270291","doi":"https://doi.org/10.1109/robio.2010.5723588","title":"Obstacle avoidance for redundant manipulators based on a Novel Gradient Projection Method with a functional scalar","display_name":"Obstacle avoidance for redundant manipulators based on a Novel Gradient Projection Method with a functional scalar","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2121270291","doi":"https://doi.org/10.1109/robio.2010.5723588","mag":"2121270291"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5100345786","display_name":"Yu Liu","orcid":"https://orcid.org/0000-0002-5216-3181"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu Liu","raw_affiliation_strings":["The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, China","The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, 100124, China"],"affiliations":[{"raw_affiliation_string":"The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, 100124, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101613714","display_name":"Jing Zhao","orcid":"https://orcid.org/0000-0001-5627-4156"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Zhao","raw_affiliation_strings":["The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, China","The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, 100124, China"],"affiliations":[{"raw_affiliation_string":"The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, 100124, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041461170","display_name":"Biyun Xie","orcid":"https://orcid.org/0000-0003-0538-1466"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biyun Xie","raw_affiliation_strings":["The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, China","The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, 100124, China"],"affiliations":[{"raw_affiliation_string":"The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"The College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, 100124, China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100345786"],"corresponding_institution_ids":["https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.18553584,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"smc 7","issue":null,"first_page":"1704","last_page":"1709"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.5807496309280396},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5712710022926331},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5368165969848633},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.5346791744232178},{"id":"https://openalex.org/keywords/uniform-norm","display_name":"Uniform norm","score":0.5194563269615173},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.508167028427124},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5068052411079407},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5034326910972595},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5029866099357605},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4601811170578003},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4240453243255615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3720127046108246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3675704002380371},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.24505695700645447},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18423154950141907},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17715305089950562},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11325269937515259},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09007737040519714}],"concepts":[{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.5807496309280396},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5712710022926331},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5368165969848633},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.5346791744232178},{"id":"https://openalex.org/C146324458","wikidata":"https://www.wikidata.org/wiki/Q1202673","display_name":"Uniform norm","level":2,"score":0.5194563269615173},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.508167028427124},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5068052411079407},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5034326910972595},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5029866099357605},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4601811170578003},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4240453243255615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3720127046108246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3675704002380371},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.24505695700645447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18423154950141907},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17715305089950562},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11325269937515259},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09007737040519714},{"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/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/robio.2010.5723588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W2049617391","https://openalex.org/W2101745110","https://openalex.org/W2103120971","https://openalex.org/W2111025123","https://openalex.org/W2113469152","https://openalex.org/W2117466269","https://openalex.org/W2119403459","https://openalex.org/W2143792422","https://openalex.org/W2144230201","https://openalex.org/W2150500908","https://openalex.org/W3088063282","https://openalex.org/W3168095073","https://openalex.org/W6662946448"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510","https://openalex.org/W4366961261"],"abstract_inverted_index":{"A":[0,61],"new":[1,76,83],"Gradient":[2],"Projection":[3],"Method":[4],"is":[5,22,28,59,64,72,85],"constructed.":[6],"The":[7,78],"optimization":[8,34,45,106],"problem":[9],"with":[10,55,74],"an":[11],"unequal":[12],"constraint":[13],"of":[14,50,96,121],"joint":[15,39,51,116],"velocity":[16,40,52,117],"limit":[17,118],"defined":[18],"by":[19],"infinity":[20,123],"norm":[21],"solved,":[23],"and":[24,47,66,112],"its":[25,44],"analytical":[26],"form":[27],"derived":[29],"to":[30,87,99],"achieve":[31],"the":[32,48,94,101,104,122],"best":[33,105],"ability":[35],"within":[36],"a":[37],"given":[38],"limit.":[41],"Based":[42],"on":[43],"ability,":[46,107],"concern":[49],"limit,":[53],"comparison":[54],"fixed":[56],"scalar":[57,97],"algorithm":[58],"made.":[60],"vision-based":[62],"system":[63],"constructed":[65],"real":[67],"time":[68],"obstacle":[69],"avoidance":[70],"experiment":[71],"implemented":[73],"this":[75,82],"method.":[77],"results":[79],"show":[80],"that":[81],"method":[84],"superior":[86],"other":[88],"methods.":[89],"It":[90],"can":[91],"automatically":[92],"change":[93],"value":[95],"k":[98],"make":[100],"robot":[102],"obtain":[103],"have":[108],"no":[109],"numerical":[110],"oscillations":[111],"meet":[113],"any":[114],"specified":[115],"in":[119],"terms":[120],"norm.":[124]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}