{"id":"https://openalex.org/W4383199408","doi":"https://doi.org/10.1155/2023/8128847","title":"The Quadruped Robot Uses the Trajectory Planned by DIACO to Complete the Obstacle Avoidance Task","display_name":"The Quadruped Robot Uses the Trajectory Planned by DIACO to Complete the Obstacle Avoidance Task","publication_year":2023,"publication_date":"2023-07-05","ids":{"openalex":"https://openalex.org/W4383199408","doi":"https://doi.org/10.1155/2023/8128847"},"language":"en","primary_location":{"id":"doi:10.1155/2023/8128847","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/8128847","pdf_url":"https://downloads.hindawi.com/journals/complexity/2023/8128847.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"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":"Complexity","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/complexity/2023/8128847.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035788608","display_name":"JingYe He","orcid":"https://orcid.org/0000-0001-6959-2452"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingye He","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China"],"affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103109699","display_name":"Junpeng Shao","orcid":"https://orcid.org/0000-0001-7263-2478"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junpeng Shao","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China"],"affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081180906","display_name":"Guitao Sun","orcid":"https://orcid.org/0009-0001-9977-9864"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guitao Sun","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China"],"affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103109699"],"corresponding_institution_ids":["https://openalex.org/I100188998"],"apc_list":{"value":2300,"currency":"USD","value_usd":2300},"apc_paid":{"value":2300,"currency":"USD","value_usd":2300},"fwci":0.2398,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50805378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"2023","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9857000112533569,"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8303655982017517},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6377193927764893},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6266910433769226},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6207897663116455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5654571652412415},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5563164949417114},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.549881637096405},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5213857293128967},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5028700232505798},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4951404631137848},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4805513024330139},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4662766754627228},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46365222334861755},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4375843405723572},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4081267714500427},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3318169116973877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3190813958644867},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24797549843788147},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2421550452709198},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.12133827805519104},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10434722900390625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06417018175125122}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8303655982017517},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6377193927764893},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6266910433769226},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6207897663116455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5654571652412415},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5563164949417114},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.549881637096405},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5213857293128967},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5028700232505798},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4951404631137848},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4805513024330139},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4662766754627228},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46365222334861755},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4375843405723572},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4081267714500427},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3318169116973877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3190813958644867},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24797549843788147},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2421550452709198},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.12133827805519104},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10434722900390625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06417018175125122},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1155/2023/8128847","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/8128847","pdf_url":"https://downloads.hindawi.com/journals/complexity/2023/8128847.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"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":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:8128847","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/complexity/2023/8128847.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:1ddc9dafbc4348be8db1e3c4088842cb","is_oa":true,"landing_page_url":"https://doaj.org/article/1ddc9dafbc4348be8db1e3c4088842cb","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2023 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2023/8128847","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/8128847","pdf_url":"https://downloads.hindawi.com/journals/complexity/2023/8128847.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"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":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383199408.pdf","grobid_xml":"https://content.openalex.org/works/W4383199408.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1036195498","https://openalex.org/W2134954564","https://openalex.org/W2169064301","https://openalex.org/W2417637069","https://openalex.org/W2531286367","https://openalex.org/W2602420801","https://openalex.org/W2604934189","https://openalex.org/W2765872909","https://openalex.org/W2774264060","https://openalex.org/W2789477383","https://openalex.org/W2796986051","https://openalex.org/W2799726513","https://openalex.org/W2911283711","https://openalex.org/W2914610074","https://openalex.org/W2915062141","https://openalex.org/W2943779163","https://openalex.org/W2953877793","https://openalex.org/W2978894689","https://openalex.org/W2996849375","https://openalex.org/W2997600762","https://openalex.org/W3013773102","https://openalex.org/W3015045924","https://openalex.org/W3016687824","https://openalex.org/W3088197938","https://openalex.org/W3092188663","https://openalex.org/W3101025102","https://openalex.org/W3162602679","https://openalex.org/W6736066110"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713"],"abstract_inverted_index":{"The":[0,51,166,186],"diffusion-improved":[1],"ant":[2,22],"colony":[3,23],"optimization":[4,24],"(DIACO)":[5],"algorithm,":[6],"as":[7],"introduced":[8],"in":[9,26,47,57,141,184,218],"this":[10],"paper,":[11],"addresses":[12],"the":[13,21,43,48,54,58,67,70,80,87,91,96,103,109,115,119,123,128,133,138,142,153,158,169,202,207,212,221],"slow":[14],"convergence":[15,194],"speed":[16,195],"and":[17,94,122,172,196,201],"poor":[18],"stability":[19,197],"of":[20,135,162,168],"(ACO)":[25],"obstacle":[27,159,208],"avoidance":[28,160,209],"path":[29,75,88,121,125,140,213],"planning":[30,214],"for":[31],"quadruped":[32,164,203],"robots.":[33],"DIACO":[34,78,113,170,191,217],"employs":[35],"a":[36,99,148,163,178],"nonuniformly":[37],"distributed":[38],"initial":[39],"pheromone,":[40],"which":[41,61],"reduces":[42],"blind":[44],"search":[45],"time":[46],"early":[49],"stage.":[50],"algorithm":[52,171],"updates":[53],"heuristic":[55],"information":[56,68,93],"transition":[59],"probability,":[60],"allows":[62],"ants":[63,85,136],"to":[64,156,199],"better":[65],"utilize":[66],"from":[69],"previous":[71],"iteration":[72],"during":[73],"their":[74],"search.":[76],"Simultaneously,":[77],"adjusts":[79,114],"pheromone":[81,97,111,116],"concentration":[82],"left":[83],"by":[84,127,216],"on":[86,90,117,152],"based":[89,151],"map":[92],"diffuses":[95],"within":[98],"specific":[100],"range":[101],"following":[102],"artificial":[104],"potential":[105],"field":[106],"algorithm.":[107],"In":[108],"global":[110],"update,":[112],"both":[118],"optimal":[120,139],"worst":[124],"generated":[126],"current":[129],"iteration,":[130],"thereby":[131],"enhancing":[132],"probability":[134],"finding":[137],"subsequent":[143],"iteration.":[144],"This":[145],"paper":[146],"designs":[147],"steering":[149,173,222],"gait":[150,155,174],"tort":[154],"fulfill":[157],"task":[161,210],"robot.":[165],"effectiveness":[167],"is":[175],"validated":[176],"through":[177],"simulation":[179,187],"environment":[180],"with":[181,220],"obstacles":[182],"constructed":[183],"Adams.":[185],"results":[188],"reveal":[189],"that":[190],"demonstrates":[192],"improved":[193],"compared":[198],"ACO,":[200],"robot":[204],"effectively":[205],"completes":[206],"using":[211],"provided":[215],"combination":[219],"gait.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
