{"id":"https://openalex.org/W4385602804","doi":"https://doi.org/10.3390/robotics12040113","title":"Application of Path Planning for a Mobile Robot Assistance System Based on OpenStreetMap Data","display_name":"Application of Path Planning for a Mobile Robot Assistance System Based on OpenStreetMap Data","publication_year":2023,"publication_date":"2023-08-04","ids":{"openalex":"https://openalex.org/W4385602804","doi":"https://doi.org/10.3390/robotics12040113"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12040113","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040113","pdf_url":"https://www.mdpi.com/2218-6581/12/4/113/pdf?version=1691155930","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/4/113/pdf?version=1691155930","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092600550","display_name":"Pascal Stahr","orcid":"https://orcid.org/0009-0006-6850-7563"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I70451448","display_name":"HAW Hamburg","ror":"https://ror.org/00fkqwx76","country_code":"DE","type":"education","lineage":["https://openalex.org/I70451448"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Pascal Stahr","raw_affiliation_strings":["Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany","Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany;"],"raw_orcid":"https://orcid.org/0009-0006-6850-7563","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany","institution_ids":["https://openalex.org/I70451448","https://openalex.org/I159176309"]},{"raw_affiliation_string":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany;","institution_ids":["https://openalex.org/I70451448","https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026076260","display_name":"Jochen Maa\u00df","orcid":"https://orcid.org/0000-0003-4988-8285"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I70451448","display_name":"HAW Hamburg","ror":"https://ror.org/00fkqwx76","country_code":"DE","type":"education","lineage":["https://openalex.org/I70451448"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen Maa\u00df","raw_affiliation_strings":["Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany","Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany;"],"raw_orcid":"https://orcid.org/0000-0003-4988-8285","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany","institution_ids":["https://openalex.org/I70451448","https://openalex.org/I159176309"]},{"raw_affiliation_string":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany;","institution_ids":["https://openalex.org/I70451448","https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085463343","display_name":"Henner G\u00e4rtner","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I70451448","display_name":"HAW Hamburg","ror":"https://ror.org/00fkqwx76","country_code":"DE","type":"education","lineage":["https://openalex.org/I70451448"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Henner G\u00e4rtner","raw_affiliation_strings":["Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany","Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany","institution_ids":["https://openalex.org/I70451448","https://openalex.org/I159176309"]},{"raw_affiliation_string":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany;","institution_ids":["https://openalex.org/I70451448","https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5092600550"],"corresponding_institution_ids":["https://openalex.org/I159176309","https://openalex.org/I70451448"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":3.107,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.92137822,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"12","issue":"4","first_page":"113","last_page":"113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10757","display_name":"Geographic Information Systems Studies","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10757","display_name":"Geographic Information Systems Studies","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/computer-science","display_name":"Computer science","score":0.7144317626953125},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6763589978218079},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5918278098106384},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5117051601409912},{"id":"https://openalex.org/keywords/geographic-information-system","display_name":"Geographic information system","score":0.49803590774536133},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4907313585281372},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48490196466445923},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4287831783294678},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.41778337955474854},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.4159839153289795},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3773157000541687},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3699357211589813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3321805000305176},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.3162841200828552},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.23189014196395874},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16532132029533386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1365421712398529},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11733537912368774},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10567250847816467},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09885349869728088}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7144317626953125},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6763589978218079},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5918278098106384},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5117051601409912},{"id":"https://openalex.org/C41856607","wikidata":"https://www.wikidata.org/wiki/Q483130","display_name":"Geographic information system","level":2,"score":0.49803590774536133},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4907313585281372},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48490196466445923},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4287831783294678},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.41778337955474854},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.4159839153289795},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3773157000541687},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3699357211589813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3321805000305176},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.3162841200828552},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.23189014196395874},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16532132029533386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1365421712398529},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11733537912368774},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10567250847816467},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09885349869728088},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12040113","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040113","pdf_url":"https://www.mdpi.com/2218-6581/12/4/113/pdf?version=1691155930","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6c6e6db4e112455ca2a99777a3a36e78","is_oa":true,"landing_page_url":"https://doaj.org/article/6c6e6db4e112455ca2a99777a3a36e78","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":"Robotics, Vol 12, Iss 4, p 113 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/4/113/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12040113","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 12; Issue 4; Pages: 113","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12040113","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040113","pdf_url":"https://www.mdpi.com/2218-6581/12/4/113/pdf?version=1691155930","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385602804.pdf"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W1981599814","https://openalex.org/W1995373050","https://openalex.org/W2110152355","https://openalex.org/W2151477068","https://openalex.org/W2549200707","https://openalex.org/W2622715095","https://openalex.org/W2736326701","https://openalex.org/W2770415034","https://openalex.org/W2967458481","https://openalex.org/W3041187528","https://openalex.org/W3167097614","https://openalex.org/W4283027691"],"related_works":["https://openalex.org/W3209137076","https://openalex.org/W4223969905","https://openalex.org/W2374560440","https://openalex.org/W1490490684","https://openalex.org/W2887026015","https://openalex.org/W2361442013","https://openalex.org/W2373384475","https://openalex.org/W2990531685","https://openalex.org/W4310124294","https://openalex.org/W4318196244"],"abstract_inverted_index":{"For":[0],"visually":[1],"impaired":[2],"people,":[3],"orientation":[4],"and":[5,9,71,99,132],"mobility":[6],"are":[7,19],"challenging":[8],"require":[10],"a":[11,26,31,75,79,147],"great":[12],"deal":[13],"of":[14,43,74,94],"concentration.":[15],"Especially":[16],"unfamiliar":[17],"routes":[18],"difficult":[20],"to":[21,40,60,89,102,121,129],"follow.":[22],"This":[23],"paper":[24],"presents":[25],"navigation":[27],"algorithm":[28,86],"based":[29],"on":[30],"geographic":[32,114],"information":[33,115,136],"system":[34,116],"that":[35,109],"can":[36],"be":[37,130],"optimally":[38],"adapted":[39],"the":[41,62,72,91,95,103,113,122,125,143],"needs":[42,128],"this":[44,54],"user":[45],"group.":[46],"A":[47],"three-stage":[48],"process":[49],"is":[50,59,87,107,118],"being":[51,138],"developed":[52,88],"for":[53,83],"purpose.":[55],"The":[56],"first":[57],"step":[58],"check":[61],"map":[63,69,97,110,126],"against":[64],"ISO":[65],"19157,":[66],"followed":[67],"by":[68],"augmentation":[70],"generation":[73],"navigable":[76],"graph.":[77],"Finally,":[78,140],"new":[80],"cost":[81],"function":[82],"an":[84],"A*":[85,149],"make":[90],"best":[92],"use":[93],"modified":[96],"data":[98,111,127],"adapt":[100],"it":[101],"user\u2019s":[104],"needs.":[105],"It":[106],"shown":[108],"from":[112],"OpenStreetMap":[117],"well":[119],"suited":[120],"task,":[123],"although":[124],"verified":[131],"augmented":[133],"with":[134,146],"additional":[135],"before":[137],"used.":[139],"we":[141],"compare":[142],"presented":[144],"solution":[145],"standard":[148],"algorithm.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}
