{"id":"https://openalex.org/W2073543441","doi":"https://doi.org/10.1163/156855393x00294","title":"Velocity potential approach to path planning for avoiding moving obstacles","display_name":"Velocity potential approach to path planning for avoiding moving obstacles","publication_year":1992,"publication_date":"1992-01-01","ids":{"openalex":"https://openalex.org/W2073543441","doi":"https://doi.org/10.1163/156855393x00294","mag":"2073543441"},"language":"en","primary_location":{"id":"doi:10.1163/156855393x00294","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00294","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-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/A5001115200","display_name":"Sadao Akishita","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Sadao Akishita","raw_affiliation_strings":["a    Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","a Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan"],"affiliations":[{"raw_affiliation_string":"a    Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"a Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103976114","display_name":"Sadao Kawamura","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sadao Kawamura","raw_affiliation_strings":["b    Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","b Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan"],"affiliations":[{"raw_affiliation_string":"b    Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"b Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085860621","display_name":"Takashi Hisanobu","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Hisanobu","raw_affiliation_strings":["c    Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","c Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan"],"affiliations":[{"raw_affiliation_string":"c    Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"c Department of Mechanical Engineering, Ritsumeikan University, Kita-ku, Kyoto 603-77, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001115200"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.22017004,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":"5","first_page":"463","last_page":"478"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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":0.8540183305740356},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.842451810836792},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7465322017669678},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6282929182052612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5341353416442871},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4883856177330017},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4753448963165283},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4699585437774658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.432881236076355},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.42659124732017517},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4228406846523285},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.42034047842025757},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38602542877197266},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35615140199661255},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1990823745727539},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07846453785896301},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.0596030056476593}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8540183305740356},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.842451810836792},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7465322017669678},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6282929182052612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5341353416442871},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4883856177330017},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4753448963165283},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4699585437774658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.432881236076355},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.42659124732017517},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4228406846523285},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.42034047842025757},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38602542877197266},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35615140199661255},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1990823745727539},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07846453785896301},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0596030056476593},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855393x00294","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00294","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1700047562","https://openalex.org/W1979266617","https://openalex.org/W1993638076","https://openalex.org/W2048603489","https://openalex.org/W2103120971","https://openalex.org/W2113682111","https://openalex.org/W2119559506","https://openalex.org/W2129209579","https://openalex.org/W2165917031","https://openalex.org/W2330396822","https://openalex.org/W3088292419"],"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/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2140606111"],"abstract_inverted_index":{"This":[0,31],"paper":[1],"describes":[2],"the":[3,28,51,60,65,72,81,84,97,102,114,128,133],"theory":[4],"and":[5,16,49,112,120],"an":[6,21],"experiment":[7,76,98],"of":[8,27,59,67,83,96,104,116],"a":[9,42,91,105],"velocity":[10],"potential":[11],"approach":[12],"to":[13,79],"path":[14,36,73],"planning":[15,37],"avoiding":[17,45,132],"moving":[18,47,106,118],"obstacles":[19,48,134],"for":[20,35,40,87],"autonomous":[22],"mobile":[23,43],"robot":[24,44,125],"by":[25],"use":[26],"Laplace":[29],"potential.":[30],"new":[32],"navigation":[33,61,85],"function":[34,62,86],"is":[38,77],"feasible":[39],"guiding":[41],"arbitrarily":[46],"reaching":[50],"goal":[52,129],"in":[53,90,108,135],"real":[54,92],"time.":[55],"The":[56,75,124],"essential":[57],"feature":[58],"comes":[63],"from":[64],"introduction":[66],"fluid":[68],"flow":[69],"dynamics":[70],"into":[71],"planning.":[74],"conducted":[78],"verify":[80],"effectiveness":[82],"obstacle":[88,107,119],"avoidance":[89,103,115],"world.":[93],"Two":[94],"examples":[95],"are":[99],"presented;":[100],"first,":[101],"parallel":[109],"line-bounded":[110],"space,":[111],"second,":[113],"one":[117],"another":[121],"standing":[122],"obstacle.":[123],"can":[126],"reach":[127],"after":[130],"successfully":[131],"these":[136],"cases.":[137]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
