{"id":"https://openalex.org/W3181843513","doi":"https://doi.org/10.1177/01423312211024798","title":"Path planning of mobile robot with PSO-based APF and fuzzy-based DWA subject to moving obstacles","display_name":"Path planning of mobile robot with PSO-based APF and fuzzy-based DWA subject to moving obstacles","publication_year":2021,"publication_date":"2021-07-04","ids":{"openalex":"https://openalex.org/W3181843513","doi":"https://doi.org/10.1177/01423312211024798","mag":"3181843513"},"language":"en","primary_location":{"id":"doi:10.1177/01423312211024798","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312211024798","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5089552125","display_name":"Zenan Lin","orcid":"https://orcid.org/0000-0001-5501-6657"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zenan Lin","raw_affiliation_strings":["School of Automotive Engineering, Dalian University of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078435236","display_name":"Ming Yue","orcid":"https://orcid.org/0000-0002-2984-4659"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ming Yue","raw_affiliation_strings":["School of Automotive Engineering, Dalian University of Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-2984-4659","affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088257057","display_name":"Guangyi Chen","orcid":"https://orcid.org/0000-0001-7542-5378"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyi Chen","raw_affiliation_strings":["School of Automotive Engineering, Dalian University of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113489684","display_name":"Jianzhong Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianzhong Sun","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Dalian University of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078435236"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":6.7886,"has_fulltext":false,"cited_by_count":102,"citation_normalized_percentile":{"value":0.97774371,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"44","issue":"1","first_page":"121","last_page":"132"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958999752998352,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/motion-planning","display_name":"Motion planning","score":0.8281941413879395},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6389434933662415},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5914854407310486},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5675441026687622},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5580762624740601},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5341984629631042},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5085493326187134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4994690418243408},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4828941822052002},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4700794517993927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4449065029621124},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4432589113712311},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4156111478805542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2887134253978729},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2839016318321228},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22954025864601135},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16725704073905945}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8281941413879395},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6389434933662415},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5914854407310486},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5675441026687622},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5580762624740601},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5341984629631042},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5085493326187134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4994690418243408},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4828941822052002},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4700794517993927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4449065029621124},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4432589113712311},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4156111478805542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2887134253978729},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2839016318321228},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22954025864601135},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16725704073905945},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/01423312211024798","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312211024798","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1965569281","https://openalex.org/W2027191849","https://openalex.org/W2066060317","https://openalex.org/W2074030251","https://openalex.org/W2098125719","https://openalex.org/W2103120971","https://openalex.org/W2121204166","https://openalex.org/W2125880285","https://openalex.org/W2130940433","https://openalex.org/W2131613989","https://openalex.org/W2168594221","https://openalex.org/W2203022174","https://openalex.org/W2278308097","https://openalex.org/W2496791995","https://openalex.org/W2515498963","https://openalex.org/W2541693935","https://openalex.org/W2617422950","https://openalex.org/W2743927437","https://openalex.org/W2766175108","https://openalex.org/W2782862780","https://openalex.org/W2788643620","https://openalex.org/W2793826897","https://openalex.org/W2794029453","https://openalex.org/W2883180136","https://openalex.org/W2887685036","https://openalex.org/W2900294696","https://openalex.org/W2904612118","https://openalex.org/W2945310371","https://openalex.org/W2947406969","https://openalex.org/W2959870341","https://openalex.org/W2960397495","https://openalex.org/W4234432229","https://openalex.org/W4242073862"],"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/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W3043170174","https://openalex.org/W2050548713"],"abstract_inverted_index":{"This":[0,31],"paper":[1],"proposes":[2],"a":[3,38,42,58,113,145,170],"two-layer":[4],"path-planning":[5,190],"method,":[6],"where":[7],"an":[8,16],"optimized":[9],"artificial":[10],"potential":[11],"field":[12,61],"(APF)":[13],"method":[14,32],"and":[15,27,71,97,131,147,163,174],"improved":[17],"dynamic":[18,176],"window":[19],"approach":[20],"(DWA)":[21],"are":[22,77,181],"used":[23],"at":[24],"the":[25,34,47,52,66,74,89,93,102,109,121,140,151,160,185,188],"global":[26,55,75],"local":[28,105],"layer,":[29],"respectively.":[30],"enables":[33],"robot":[35,141],"to":[36,87,119,159,183],"plan":[37,144],"better":[39],"path":[40,56,76,106,149],"under":[41],"multi-obstacle":[43,172],"environment":[44,173],"while":[45],"avoiding":[46],"moving":[48,125,161,179],"obstacles":[49,126,162,180],"effectively.":[50],"For":[51],"part":[53],"of":[54,73,82,95,104,111,124,153,187],"planning,":[57,107],"new":[59],"repulsive":[60],"is":[62,117],"proposed":[63,189],"based":[64],"on":[65,108],"APF":[67],"method.":[68,191],"The":[69],"length":[70],"smoothness":[72],"taken":[78],"as":[79],"fitness":[80],"functions":[81],"particle":[83],"swarm":[84],"optimization":[85],"(PSO)":[86],"obtain":[88],"obstacle":[90],"influence":[91],"range,":[92],"coefficients":[94],"gravitation":[96],"repulsion":[98],"in":[99],"APF.":[100],"At":[101],"level":[103,123],"basis":[110],"DWA,":[112],"fuzzy":[114],"control":[115],"scheme":[116],"adopted":[118],"evaluate":[120],"danger":[122],"via":[127],"collision":[128],"risk":[129],"index":[130],"relative":[132],"distance.":[133],"In":[134],"brief,":[135],"compared":[136],"with":[137,150,178],"existing":[138],"methods,":[139],"can":[142],"reasonably":[143],"shorter":[146],"smoother":[148],"aid":[152],"PSO-based":[154],"APF,":[155],"meanwhile":[156],"quickly":[157],"react":[158],"avoid":[164],"them":[165],"by":[166],"fuzzy-based":[167],"DWA.":[168],"Finally,":[169],"static":[171],"two":[175],"scenarios":[177],"simulated":[182],"verify":[184],"effectiveness":[186]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":33},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":15}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}