{"id":"https://openalex.org/W4402262775","doi":"https://doi.org/10.23919/acc60939.2024.10644836","title":"Energy Optimal Obstacle Avoidance Motion Planning for Wheeled Mobile Robots","display_name":"Energy Optimal Obstacle Avoidance Motion Planning for Wheeled Mobile Robots","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402262775","doi":"https://doi.org/10.23919/acc60939.2024.10644836"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644836","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-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/A5100440471","display_name":"Youngjin Kim","orcid":"https://orcid.org/0009-0008-2954-3443"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Youngjin Kim","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5088953210","display_name":"Tarunraj Singh","orcid":"https://orcid.org/0000-0003-0377-6122"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tarunraj Singh","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100440471"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14152418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1323","last_page":"1328"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9968000054359436,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9965999722480774,"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":0.8511790037155151},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.8487753868103027},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7492725253105164},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.636408269405365},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6237072944641113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850738286972046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5231748223304749},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4991016387939453},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31116271018981934},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.05955314636230469},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.05942949652671814}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8511790037155151},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8487753868103027},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7492725253105164},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.636408269405365},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6237072944641113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850738286972046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5231748223304749},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4991016387939453},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31116271018981934},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.05955314636230469},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.05942949652671814},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644836","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1488808209","https://openalex.org/W1596932540","https://openalex.org/W1966079442","https://openalex.org/W1969483458","https://openalex.org/W2024284876","https://openalex.org/W2041106615","https://openalex.org/W2793067206","https://openalex.org/W2794436303","https://openalex.org/W2810028416","https://openalex.org/W2842089854","https://openalex.org/W3156169478","https://openalex.org/W4281382525","https://openalex.org/W4285092328","https://openalex.org/W4379526062","https://openalex.org/W4386954677"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Energy":[0],"optimal":[1,26,116],"motion":[2],"planning":[3,20],"of":[4,40,75,97,108,111,114,118],"a":[5,10],"wheeled":[6,120],"mobile":[7,121],"robot":[8],"with":[9,29],"circular":[11],"obstacle":[12,113],"is":[13,22,44,80],"addressed":[14],"in":[15,89],"this":[16],"article.":[17],"The":[18,50,82],"trajectory":[19,117],"problem":[21,28,88],"posed":[23],"as":[24,46],"an":[25],"control":[27,42,67],"state":[30],"inequality":[31],"constraint":[32,78],"where":[33],"the":[34,41,47,59,63,66,72,77,87,98,106,109,112,115,119],"benchmark":[35],"<tex":[36],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[37],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathcal{L}^{2}$</tex>":[38],"norm":[39],"inputs":[43,68],"considered":[45],"cost":[48],"function.":[49],"necessary":[51,83],"conditions":[52,84],"for":[53],"optimality":[54],"are":[55,102],"formally":[56],"derived":[57],"using":[58],"variational":[60],"principle":[61],"and":[62,94],"fact":[64],"that":[65],"remain":[69],"continuous":[70],"at":[71],"time":[73],"instant":[74],"entering":[76],"boundary":[79],"proven.":[81],"permit":[85],"decomposing":[86],"two":[90],"intervals:":[91],"prior":[92],"to":[93,104],"after":[95],"activation":[96],"constraint.":[99],"Parametric":[100],"studies":[101],"conducted":[103],"study":[105],"impact":[107],"size":[110],"robot.":[122]},"counts_by_year":[],"updated_date":"2026-03-04T07:04:00.330322","created_date":"2025-10-10T00:00:00"}