{"id":"https://openalex.org/W4366381098","doi":"https://doi.org/10.1145/3584376.3584473","title":"NMPC Motion Planning Method For Two Wheel Differential Motion Model","display_name":"NMPC Motion Planning Method For Two Wheel Differential Motion Model","publication_year":2022,"publication_date":"2022-12-16","ids":{"openalex":"https://openalex.org/W4366381098","doi":"https://doi.org/10.1145/3584376.3584473"},"language":"en","primary_location":{"id":"doi:10.1145/3584376.3584473","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","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/A5064502289","display_name":"Hang Yu","orcid":"https://orcid.org/0000-0003-1356-2603"},"institutions":[{"id":"https://openalex.org/I4210155232","display_name":"Fiberhome Technology Group (China)","ror":"https://ror.org/04yv20134","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210155232"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hang Yu","raw_affiliation_strings":["FiberHome Technologies Group, China"],"affiliations":[{"raw_affiliation_string":"FiberHome Technologies Group, China","institution_ids":["https://openalex.org/I4210155232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5064502289"],"corresponding_institution_ids":["https://openalex.org/I4210155232"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16904899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"543","last_page":"547"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9861999750137329,"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":0.8242160081863403},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.727959394454956},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6605345010757446},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6581072807312012},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6477228999137878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5347406268119812},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.529199481010437},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4834357500076294},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3270843029022217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2701743543148041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26914697885513306},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25949233770370483},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18812507390975952},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0583074688911438}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8242160081863403},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.727959394454956},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6605345010757446},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6581072807312012},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6477228999137878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5347406268119812},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.529199481010437},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4834357500076294},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3270843029022217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2701743543148041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26914697885513306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25949233770370483},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18812507390975952},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0583074688911438},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3584376.3584473","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2171879251","https://openalex.org/W2735010720","https://openalex.org/W3127511342","https://openalex.org/W3186006973","https://openalex.org/W3186317065","https://openalex.org/W7002284711"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3110652258","https://openalex.org/W2971758839"],"abstract_inverted_index":{"At":[0],"present,":[1],"many":[2],"motion":[3,39,69],"planning":[4,103,142],"algorithms":[5],"generally":[6],"have":[7],"problems":[8],"such":[9],"as":[10,59,71,100],"linearization":[11],"and":[12,63,80,91,113,139],"failure":[13],"to":[14,23,77,98],"consider":[15],"the":[16,32,36,60,65,72,86,129],"robot":[17],"kinematics":[18],"model,":[19],"which":[20],"may":[21],"lead":[22],"unsmooth":[24],"path":[25,134],"planning,":[26,40],"or":[27],"vehicles":[28],"cannot":[29],"fully":[30],"fit":[31],"path.":[33],"Aiming":[34],"at":[35],"problem":[37],"of":[38,105],"a":[41],"nonlinear":[42],"model":[43,52,70],"predictive":[44],"control":[45,87,92],"(NMPC)":[46],"algorithm":[47,56,61,130],"for":[48],"two":[49,66],"wheel":[50,67],"differential":[51,68],"is":[53],"designed.":[54],"The":[55,102,124],"uses":[57],"NMPC":[58,99,106],"core":[62],"takes":[64],"kinematic":[73],"constraint.":[74],"In":[75],"order":[76],"achieve":[78],"navigation":[79],"obstacle":[81,88,140],"avoidance":[82,141],"in":[83,107,115,136,143],"complex":[84,116,144],"environments,":[85],"function":[89,94],"(CBF)":[90],"Lyapunov":[93],"(CLF)":[95],"are":[96,122],"added":[97],"constraints.":[101],"ability":[104],"simple":[108,137],"environments":[109,117,138],"with":[110,118],"static":[111],"obstacles":[112,121],"NMPC-DCBF-DCLF":[114],"multiple":[119],"moving":[120],"tested.":[123],"experimental":[125],"results":[126],"show":[127],"that":[128],"can":[131],"well":[132],"complete":[133],"fitting":[135],"environments.":[145]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}