{"id":"https://openalex.org/W1975311377","doi":"https://doi.org/10.1504/ijista.2010.034317","title":"Non-uniform rational B-spline-based minimum cost trajectory planning for autonomous robots","display_name":"Non-uniform rational B-spline-based minimum cost trajectory planning for autonomous robots","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W1975311377","doi":"https://doi.org/10.1504/ijista.2010.034317","mag":"1975311377"},"language":"en","primary_location":{"id":"doi:10.1504/ijista.2010.034317","is_oa":false,"landing_page_url":"https://doi.org/10.1504/ijista.2010.034317","pdf_url":null,"source":{"id":"https://openalex.org/S142907639","display_name":"International Journal of Intelligent Systems Technologies and Applications","issn_l":"1740-8865","issn":["1740-8865","1740-8873"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310317825","host_organization_name":"Inderscience Publishers","host_organization_lineage":["https://openalex.org/P4310317825"],"host_organization_lineage_names":["Inderscience Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Systems Technologies and Applications","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/A5070295523","display_name":"R. Saravanan","orcid":"https://orcid.org/0000-0002-0728-4267"},"institutions":[{"id":"https://openalex.org/I65220239","display_name":"Karpagam Academy of Higher Education","ror":"https://ror.org/00ssvzv66","country_code":"IN","type":"education","lineage":["https://openalex.org/I65220239"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"R. Saravanan","raw_affiliation_strings":["Department of Mechatronics Engineering, Karpagam University, Coimbatore 641 021, Tamilnadu, India","Department of Mechatronics Engineering, Karpagam University, Coimbatore 641 021, Tamilnadu, India.#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Karpagam University, Coimbatore 641 021, Tamilnadu, India","institution_ids":["https://openalex.org/I65220239"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, Karpagam University, Coimbatore 641 021, Tamilnadu, India.#TAB#","institution_ids":["https://openalex.org/I65220239"]}]},{"author_position":"middle","author":{"id":null,"display_name":"S. Ramabalan","orcid":null},"institutions":[{"id":"https://openalex.org/I122964287","display_name":"National Institute of Technology Tiruchirappalli","ror":"https://ror.org/047x65e68","country_code":"IN","type":"education","lineage":["https://openalex.org/I122964287"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S. Ramabalan","raw_affiliation_strings":["Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India","Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India.#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India","institution_ids":["https://openalex.org/I122964287"]},{"raw_affiliation_string":"Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India.#TAB#","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026662937","display_name":"P. Venkata Sriram","orcid":null},"institutions":[{"id":"https://openalex.org/I122964287","display_name":"National Institute of Technology Tiruchirappalli","ror":"https://ror.org/047x65e68","country_code":"IN","type":"education","lineage":["https://openalex.org/I122964287"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P. Sriram","raw_affiliation_strings":["Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India","Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India.#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India","institution_ids":["https://openalex.org/I122964287"]},{"raw_affiliation_string":"Department of Mechanical Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India.#TAB#","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012162604","display_name":"C. Balamurugan","orcid":"https://orcid.org/0000-0002-0195-7598"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C. Balamurugan","raw_affiliation_strings":["Department of Production Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India"],"affiliations":[{"raw_affiliation_string":"Department of Production Engineering, J.J. College of Engineering and Technology, Thiruchirapalli 620 009, Tamilnadu, India","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070295523"],"corresponding_institution_ids":["https://openalex.org/I65220239"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.06600802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"9","issue":"2","first_page":"121","last_page":"121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/workspace","display_name":"Workspace","score":0.7153538465499878},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7101297378540039},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5443808436393738},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5376014113426208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5358940362930298},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5294344425201416},{"id":"https://openalex.org/keywords/penalty-method","display_name":"Penalty method","score":0.5058224201202393},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4783567786216736},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.476752370595932},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.45921799540519714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42008352279663086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3626830577850342},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30802008509635925},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16140952706336975},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08230286836624146}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7153538465499878},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7101297378540039},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5443808436393738},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5376014113426208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5358940362930298},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5294344425201416},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.5058224201202393},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4783567786216736},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.476752370595932},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.45921799540519714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42008352279663086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3626830577850342},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30802008509635925},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16140952706336975},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08230286836624146},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1504/ijista.2010.034317","is_oa":false,"landing_page_url":"https://doi.org/10.1504/ijista.2010.034317","pdf_url":null,"source":{"id":"https://openalex.org/S142907639","display_name":"International Journal of Intelligent Systems Technologies and Applications","issn_l":"1740-8865","issn":["1740-8865","1740-8873"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310317825","host_organization_name":"Inderscience Publishers","host_organization_lineage":["https://openalex.org/P4310317825"],"host_organization_lineage_names":["Inderscience Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Systems Technologies and Applications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W825380","https://openalex.org/W1967911984","https://openalex.org/W1969147966","https://openalex.org/W1980955273","https://openalex.org/W2012674981","https://openalex.org/W2022721584","https://openalex.org/W2071755483","https://openalex.org/W2075184503","https://openalex.org/W2087741808","https://openalex.org/W2091369456","https://openalex.org/W2093205068","https://openalex.org/W2126105956","https://openalex.org/W2146494230","https://openalex.org/W2166316739","https://openalex.org/W2532109687"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2906946336","https://openalex.org/W3119736302","https://openalex.org/W2938416672","https://openalex.org/W3200041777","https://openalex.org/W2146611987","https://openalex.org/W4386464271","https://openalex.org/W4289599435","https://openalex.org/W4389432327"],"abstract_inverted_index":{"This":[0,74],"paper":[1],"proposes":[2],"a":[3,45,76,95],"new":[4],"novel":[5],"trajectory":[6],"planning":[7],"method":[8],"by":[9,58,67],"using":[10],"two":[11],"evolutionary":[12],"algorithms":[13],"namely":[14],"Elitist":[15],"non-dominated":[16],"sorting":[17],"genetic":[18],"algorithm":[19],"(NSGA-II)":[20],"and":[21,54,87,118,127,143,147],"differential":[22],"evolution":[23],"(DE)":[24],"for":[25],"an":[26],"autonomous":[27],"robot":[28],"manipulator":[29],"(STANFORD":[30],"robot)":[31],"whose":[32],"workspace":[33,134],"includes":[34],"several":[35],"obstacles.":[36],"The":[37,90,138],"aim":[38],"of":[39,62,98,103,123,135],"the":[40,104,112,133,136],"problem":[41,80],"is":[42,75,94],"to":[43,110],"minimise":[44],"multicriterion":[46,91],"cost":[47,92],"function":[48,93,109],"with":[49,81],"actuator":[50],"constraints,":[51],"joint":[52,116,119],"limits":[53],"obstacle":[55],"avoidance":[56],"constraints":[57,86],"considering":[59],"dynamic":[60],"equations":[61],"motion.":[63],"Trajectories":[64],"are":[65,130,145],"defined":[66],"non":[68],"uniform":[69],"rational":[70],"B-spline":[71],"(NURBS)":[72],"functions.":[73],"nonlinear":[77],"constrained":[78],"optimisation":[79],"6":[82],"objective":[83],"functions,":[84],"32":[85],"288":[88],"variables.":[89],"weighted":[96],"balance":[97],"transfer":[99],"time,":[100],"mechanical":[101],"energy":[102],"actuators,":[105],"singularity":[106],"avoidance,":[107],"penalty":[108],"guarantee":[111],"collision":[113],"free":[114],"motion,":[115],"jerks":[117],"accelerations.":[120],"All":[121],"types":[122],"obstacles":[124],"(fixed,":[125],"moving":[126],"oscillating":[128],"obstacles)":[129],"present":[131],"in":[132],"robot.":[137],"results":[139],"obtained":[140],"from":[141],"NSGA-II":[142],"DE":[144],"compared":[146],"analysed.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}