{"id":"https://openalex.org/W4220860788","doi":"https://doi.org/10.1155/2022/8954060","title":"Intelligent Obstacle Avoidance Algorithm for Mobile Robots in Uncertain Environment","display_name":"Intelligent Obstacle Avoidance Algorithm for Mobile Robots in Uncertain Environment","publication_year":2022,"publication_date":"2022-03-30","ids":{"openalex":"https://openalex.org/W4220860788","doi":"https://doi.org/10.1155/2022/8954060"},"language":"en","primary_location":{"id":"doi:10.1155/2022/8954060","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/8954060","pdf_url":"https://downloads.hindawi.com/journals/jr/2022/8954060.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2022/8954060.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022492177","display_name":"Liwei Guan","orcid":"https://orcid.org/0000-0001-7253-400X"},"institutions":[{"id":"https://openalex.org/I111753288","display_name":"Fujian Normal University","ror":"https://ror.org/020azk594","country_code":"CN","type":"education","lineage":["https://openalex.org/I111753288"]},{"id":"https://openalex.org/I4210156302","display_name":"Tan Kah Kee Innovation Laboratory","ror":"https://ror.org/05jxgts87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156302"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liwei Guan","raw_affiliation_strings":["College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China"],"raw_orcid":"https://orcid.org/0000-0001-7253-400X","affiliations":[{"raw_affiliation_string":"College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","institution_ids":["https://openalex.org/I111753288"]},{"raw_affiliation_string":"Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","institution_ids":["https://openalex.org/I4210156302"]},{"raw_affiliation_string":"Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032308763","display_name":"Yu L\u00fc","orcid":"https://orcid.org/0000-0002-8927-5750"},"institutions":[{"id":"https://openalex.org/I111753288","display_name":"Fujian Normal University","ror":"https://ror.org/020azk594","country_code":"CN","type":"education","lineage":["https://openalex.org/I111753288"]},{"id":"https://openalex.org/I4210156302","display_name":"Tan Kah Kee Innovation Laboratory","ror":"https://ror.org/05jxgts87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Lu","raw_affiliation_strings":["College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","institution_ids":["https://openalex.org/I111753288"]},{"raw_affiliation_string":"Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","institution_ids":["https://openalex.org/I4210156302"]},{"raw_affiliation_string":"Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112132371","display_name":"Zhi-Jie He","orcid":null},"institutions":[{"id":"https://openalex.org/I111753288","display_name":"Fujian Normal University","ror":"https://ror.org/020azk594","country_code":"CN","type":"education","lineage":["https://openalex.org/I111753288"]},{"id":"https://openalex.org/I4210156302","display_name":"Tan Kah Kee Innovation Laboratory","ror":"https://ror.org/05jxgts87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijie He","raw_affiliation_strings":["College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","institution_ids":["https://openalex.org/I111753288"]},{"raw_affiliation_string":"Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","institution_ids":["https://openalex.org/I4210156302"]},{"raw_affiliation_string":"Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100718285","display_name":"Xi Chen","orcid":"https://orcid.org/0000-0002-8355-5161"},"institutions":[{"id":"https://openalex.org/I111753288","display_name":"Fujian Normal University","ror":"https://ror.org/020azk594","country_code":"CN","type":"education","lineage":["https://openalex.org/I111753288"]},{"id":"https://openalex.org/I4210156302","display_name":"Tan Kah Kee Innovation Laboratory","ror":"https://ror.org/05jxgts87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Chen","raw_affiliation_strings":["College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Physics and Energy, Fujian Normal University, Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, Fuzhou, Fujian 350117, China","institution_ids":["https://openalex.org/I111753288"]},{"raw_affiliation_string":"Fujian Provincial Collaborative Innovation Center for Optoelectronic Semiconductors and Efficient Devices, Xiamen, Fujian 361005, China","institution_ids":["https://openalex.org/I4210156302"]},{"raw_affiliation_string":"Fujian Provincial Engineering Technology Research Center of Solar Energy Conversion and Energy Storage, Fuzhou, Fujian 350117, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022492177"],"corresponding_institution_ids":["https://openalex.org/I111753288","https://openalex.org/I4210156302"],"apc_list":{"value":900,"currency":"USD","value_usd":925},"apc_paid":{"value":900,"currency":"USD","value_usd":925},"fwci":0.4859,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.57845974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"2022","issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9487000107765198,"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":0.9455000162124634,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8940737843513489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7723656892776489},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7651727199554443},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6455042958259583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6099811792373657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4991447925567627},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47327446937561035},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43933597207069397},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4145182967185974},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38034844398498535},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06734350323677063}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8940737843513489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7723656892776489},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7651727199554443},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6455042958259583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6099811792373657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4991447925567627},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47327446937561035},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43933597207069397},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4145182967185974},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38034844398498535},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06734350323677063},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2022/8954060","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/8954060","pdf_url":"https://downloads.hindawi.com/journals/jr/2022/8954060.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ac034475aa5f4f918cbc3df958f46670","is_oa":true,"landing_page_url":"https://doaj.org/article/ac034475aa5f4f918cbc3df958f46670","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2022 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2022/8954060","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/8954060","pdf_url":"https://downloads.hindawi.com/journals/jr/2022/8954060.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4220860788.pdf","grobid_xml":"https://content.openalex.org/works/W4220860788.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W2604260908","https://openalex.org/W2620384361","https://openalex.org/W2669733491","https://openalex.org/W2765082137","https://openalex.org/W2771566166","https://openalex.org/W2791390041","https://openalex.org/W2792791722","https://openalex.org/W2794680491","https://openalex.org/W2798000375","https://openalex.org/W2808295444","https://openalex.org/W2883180136","https://openalex.org/W2889867061","https://openalex.org/W2910505090","https://openalex.org/W2916544653","https://openalex.org/W2934956067","https://openalex.org/W2938278435","https://openalex.org/W2939286243","https://openalex.org/W2947009796","https://openalex.org/W2956658590","https://openalex.org/W2970548782","https://openalex.org/W2971856984","https://openalex.org/W2995705068"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W2050548713"],"abstract_inverted_index":{"The":[0,17,104],"application":[1,12,29],"of":[2,19,30,47,75,127,152,163,193,261],"mobile":[3,31,79,86,105,196],"robots":[4,197],"and":[5,120,136,160,195,227,256,263],"artificial":[6],"intelligence":[7],"technology":[8],"has":[9,167],"shown":[10],"great":[11],"prospects":[13],"in":[14,42,59,205],"many":[15],"fields.":[16],"ability":[18],"intelligent":[20,88,107],"obstacle":[21,76,89,108,133,137,190,222],"avoidance":[22,77,90,109,134,138,191,223],"is":[23,66,101,111,156,178,217,225,230],"the":[24,27,43,48,72,114,117,121,125,140,149,153,161,164,172,183,189,203,209,215,228,233,238,240,249,253],"basis":[25],"for":[26,78],"deep":[28],"robots.":[32,80],"However,":[33],"there":[34,212],"are":[35,56,143,213],"often":[36],"more":[37],"or":[38,53,61],"less":[39],"uncertain":[40],"factors":[41],"actual":[44],"operating":[45],"environment":[46],"robot,":[49],"such":[50],"as":[51],"people":[52],"objects":[54],"that":[55,244],"not":[57],"updated":[58],"time":[60],"temporarily":[62],"appear.":[63],"Therefore,":[64],"it":[65],"an":[67,94],"important":[68],"step":[69],"to":[70,175,252],"complete":[71],"automatic":[73],"learning":[74],"In":[81],"a":[82,85],"nondeterministic":[83],"environment,":[84],"robot":[87,106],"algorithm":[91,204,246],"based":[92],"on":[93],"improved":[95],"fuzzy":[96],"neural":[97],"network":[98,147],"with":[99],"self-learning":[100],"firstly":[102],"proposed.":[103],"system":[110],"constructed":[112],"through":[113,146],"reaction":[115],"layer,":[116,119],"deliberation":[118],"supervision":[122],"layer.":[123],"Through":[124],"analysis":[126],"sensor":[128,186],"performance,":[129],"model":[130],"accuracy,":[131],"path":[132,216],"optimization,":[135],"simulation,":[139],"following":[141],"conclusions":[142],"drawn.":[144],"First,":[145],"training,":[148],"accuracy":[150],"rate":[151],"test":[154],"set":[155],"stable":[157],"at":[158],"98%,":[159],"loss":[162],"function":[165],"value":[166],"also":[168],"been":[169],"reduced":[170],"from":[171],"original":[173],"0.79":[174],"0.08,":[176],"which":[177],"10":[179],"times":[180],"smaller.":[181],"Second,":[182],"traditional":[184],"single":[185],"cannot":[187],"meet":[188],"requirements":[192],"robots,":[194],"must":[198],"combine":[199],"multipurpose":[200],"technology.":[201],"Third,":[202],"this":[206,245],"paper":[207],"encounters":[208],"following.":[210],"When":[211],"obstacles,":[214],"dominated":[218],"by":[219],"straight":[220],"lines,":[221],"planning":[224],"optimal,":[226],"distance":[229],"shorter.":[231],"Fourth,":[232],"larger":[234,239],"N":[235],":":[236],"M,":[237],"solution":[241],"space,":[242],"indicating":[243],"gradually":[247],"improves":[248],"search":[250],"efficiency":[251],"greatest":[254],"extent":[255],"can":[257],"handle":[258],"any":[259],"form":[260],"medium":[262],"large":[264],"scale":[265],"task":[266],"allocation":[267],"problem.":[268]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}