{"id":"https://openalex.org/W2009393207","doi":"https://doi.org/10.1145/1774088.1774361","title":"Simulated annealing based algorithm for smooth robot path planning with different kinematic constraints","display_name":"Simulated annealing based algorithm for smooth robot path planning with different kinematic constraints","publication_year":2010,"publication_date":"2010-03-22","ids":{"openalex":"https://openalex.org/W2009393207","doi":"https://doi.org/10.1145/1774088.1774361","mag":"2009393207"},"language":"en","primary_location":{"id":"doi:10.1145/1774088.1774361","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1774088.1774361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 ACM Symposium on Applied Computing","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/A5007397580","display_name":"Yi-Ju Ho","orcid":null},"institutions":[{"id":"https://openalex.org/I84653119","display_name":"Academia Sinica","ror":"https://ror.org/05bxb3784","country_code":"TW","type":"facility","lineage":["https://openalex.org/I84653119"]},{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Yi-Ju Ho","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan, ROC","Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan ROC#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan, ROC","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan ROC#TAB#","institution_ids":["https://openalex.org/I84653119"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034523100","display_name":"Jing\u2010Sin Liu","orcid":"https://orcid.org/0000-0002-4935-8965"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]},{"id":"https://openalex.org/I84653119","display_name":"Academia Sinica","ror":"https://ror.org/05bxb3784","country_code":"TW","type":"facility","lineage":["https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jing-Sin Liu","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan, ROC","Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan ROC#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan, ROC","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan ROC#TAB#","institution_ids":["https://openalex.org/I84653119"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007397580"],"corresponding_institution_ids":["https://openalex.org/I4210098366","https://openalex.org/I84653119"],"apc_list":null,"apc_paid":null,"fwci":1.293,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80976538,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1277","last_page":"1281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T12290","display_name":"Human Motion and Animation","score":0.9968000054359436,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9768000245094299,"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/voronoi-diagram","display_name":"Voronoi diagram","score":0.84913170337677},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.7374930381774902},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7046111226081848},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.5903565287590027},{"id":"https://openalex.org/keywords/k-shortest-path-routing","display_name":"K shortest path routing","score":0.587398886680603},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5466923117637634},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5377898812294006},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49753883481025696},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48132431507110596},{"id":"https://openalex.org/keywords/yens-algorithm","display_name":"Yen's algorithm","score":0.46018630266189575},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4489322900772095},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.44773948192596436},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4463396370410919},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41610345244407654},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4134889543056488},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.376539409160614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2962725758552551},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.2641703486442566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16041186451911926},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10727915167808533},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10023495554924011},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07427814602851868}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.84913170337677},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.7374930381774902},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7046111226081848},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.5903565287590027},{"id":"https://openalex.org/C70266271","wikidata":"https://www.wikidata.org/wiki/Q6343044","display_name":"K shortest path routing","level":4,"score":0.587398886680603},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5466923117637634},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5377898812294006},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49753883481025696},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48132431507110596},{"id":"https://openalex.org/C119971455","wikidata":"https://www.wikidata.org/wiki/Q8052172","display_name":"Yen's algorithm","level":5,"score":0.46018630266189575},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4489322900772095},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.44773948192596436},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4463396370410919},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41610345244407654},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4134889543056488},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.376539409160614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2962725758552551},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.2641703486442566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16041186451911926},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10727915167808533},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10023495554924011},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07427814602851868},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/1774088.1774361","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1774088.1774361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 ACM Symposium on Applied Computing","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.677.5262","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.677.5262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iis.sinica.edu.tw/papers/liu/8969-F.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W29624342","https://openalex.org/W1540740892","https://openalex.org/W1821149804","https://openalex.org/W1884332302","https://openalex.org/W1998277076","https://openalex.org/W2027504643","https://openalex.org/W2047404108","https://openalex.org/W2092200806","https://openalex.org/W2092924973","https://openalex.org/W2097925618","https://openalex.org/W2137101057","https://openalex.org/W2143102370","https://openalex.org/W2171875606","https://openalex.org/W2313274380","https://openalex.org/W4239339957","https://openalex.org/W4240527038","https://openalex.org/W4248113338","https://openalex.org/W4255760592","https://openalex.org/W4298882292"],"related_works":["https://openalex.org/W2381419702","https://openalex.org/W4253588386","https://openalex.org/W2810620529","https://openalex.org/W1562631103","https://openalex.org/W2348177054","https://openalex.org/W2367161887","https://openalex.org/W2578319993","https://openalex.org/W2886722595","https://openalex.org/W4223969905","https://openalex.org/W4285816407"],"abstract_inverted_index":{"In":[0,40],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,43],"simulated":[6],"annealing":[7],"(SA)":[8],"based":[9,22],"algorithm":[10],"for":[11,89],"robot":[12],"path":[13,35,56,73,81,108,130],"planning.":[14],"The":[15,53,75],"kernel":[16],"of":[17,125],"our":[18,41,90],"SA":[19,91,94],"engine":[20,95],"is":[21,46,67],"on":[23,78,116],"Voronoi":[24,44,59],"diagram":[25,45,60],"and":[26],"composite":[27,105],"Bezier":[28,106],"curve":[29,107],"to":[30,49,84,101],"obtain":[31,102],"the":[32,50,58,65,79,86,98,103,123,126],"shortest":[33,72,104],"smooth":[34,129],"under":[36],"given":[37,111],"kinematic":[38,112],"constraints.":[39,113],"algorithm,":[42],"constructed":[47],"according":[48],"global":[51],"environment.":[52],"piecewise":[54],"linear":[55],"in":[57],"which":[61],"keeps":[62],"away":[63],"from":[64],"obstacles":[66],"obtained":[68],"by":[69],"performing":[70],"Dijkstra's":[71],"algorithm.":[74,132],"control":[76,87,99],"points":[77],"reference":[80],"are":[82],"used":[83],"create":[85],"variables":[88,100],"engine.":[92],"Our":[93],"then":[96],"updates":[97],"while":[109],"satisfying":[110],"Experimental":[114],"results":[115],"two":[117],"maps":[118],"containing":[119],"sharp":[120],"turns":[121],"demonstrate":[122],"effectiveness":[124],"proposed":[127],"SA-based":[128],"planning":[131]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}