{"id":"https://openalex.org/W4392600718","doi":"https://doi.org/10.3390/robotics13030046","title":"Development of Local Path Planning Using Selective Model Predictive Control, Potential Fields, and Particle Swarm Optimization","display_name":"Development of Local Path Planning Using Selective Model Predictive Control, Potential Fields, and Particle Swarm Optimization","publication_year":2024,"publication_date":"2024-03-08","ids":{"openalex":"https://openalex.org/W4392600718","doi":"https://doi.org/10.3390/robotics13030046"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13030046","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030046","pdf_url":"https://www.mdpi.com/2218-6581/13/3/46/pdf?version=1709898028","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/2218-6581/13/3/46/pdf?version=1709898028","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073417031","display_name":"Mingeuk Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Mingeuk Kim","raw_affiliation_strings":["Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100704974","display_name":"Minyoung Lee","orcid":"https://orcid.org/0000-0002-1871-7873"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minyoung Lee","raw_affiliation_strings":["Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101629093","display_name":"Byeongjin Kim","orcid":"https://orcid.org/0009-0007-1007-0909"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byeongjin Kim","raw_affiliation_strings":["Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090390340","display_name":"Moohyun Cha","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moohyun Cha","raw_affiliation_strings":["Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea","institution_ids":["https://openalex.org/I4210111434"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073417031"],"corresponding_institution_ids":["https://openalex.org/I4210111434"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.4678,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.82123369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"13","issue":"3","first_page":"46","last_page":"46"},"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":0.9947999715805054,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.989300012588501,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7307046055793762},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6227519512176514},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6110438704490662},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.564158022403717},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4955967664718628},{"id":"https://openalex.org/keywords/particle","display_name":"Particle (ecology)","score":0.4612286388874054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44077178835868835},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3474523425102234},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3454189598560333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2951212227344513},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21547260880470276},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16991490125656128},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11455327272415161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10525268316268921},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.07225334644317627}],"concepts":[{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7307046055793762},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6227519512176514},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6110438704490662},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.564158022403717},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4955967664718628},{"id":"https://openalex.org/C2778517922","wikidata":"https://www.wikidata.org/wiki/Q7140482","display_name":"Particle (ecology)","level":2,"score":0.4612286388874054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44077178835868835},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3474523425102234},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3454189598560333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2951212227344513},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21547260880470276},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16991490125656128},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11455327272415161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10525268316268921},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.07225334644317627},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13030046","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030046","pdf_url":"https://www.mdpi.com/2218-6581/13/3/46/pdf?version=1709898028","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:1cc1dd28af804327b6c361859f6cb848","is_oa":true,"landing_page_url":"https://doaj.org/article/1cc1dd28af804327b6c361859f6cb848","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 13, Iss 3, p 46 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13030046","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030046","pdf_url":"https://www.mdpi.com/2218-6581/13/3/46/pdf?version=1709898028","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":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1007690557","display_name":null,"funder_award_id":"NK242I","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G1123576400","display_name":null,"funder_award_id":"86421","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G2009442134","display_name":null,"funder_award_id":"2020M3C1C1A02086421","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G3034753964","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G342704958","display_name":null,"funder_award_id":"funded","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G4026701597","display_name":null,"funder_award_id":"NK242","funder_id":"https://openalex.org/F4320322098","funder_display_name":"Korea Institute of Machinery and Materials"},{"id":"https://openalex.org/G5090643958","display_name":null,"funder_award_id":"2020M3C1C1A02086421","funder_id":"https://openalex.org/F4320322098","funder_display_name":"Korea Institute of Machinery and Materials"},{"id":"https://openalex.org/G8032393658","display_name":null,"funder_award_id":"CRC23041-400","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G8442441093","display_name":null,"funder_award_id":"NK242I","funder_id":"https://openalex.org/F4320322098","funder_display_name":"Korea Institute of Machinery and Materials"},{"id":"https://openalex.org/G8623187386","display_name":null,"funder_award_id":"CRC23041-400","funder_id":"https://openalex.org/F4320322098","funder_display_name":"Korea Institute of Machinery and Materials"},{"id":"https://openalex.org/G8675051910","display_name":null,"funder_award_id":"2020M3C1C1A02086421","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G981458414","display_name":null,"funder_award_id":"2020M3C1C1A02086421","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322098","display_name":"Korea Institute of Machinery and Materials","ror":"https://ror.org/01qcq9d74"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392600718.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1575042585","https://openalex.org/W1969483458","https://openalex.org/W1993450261","https://openalex.org/W2000359213","https://openalex.org/W2051617934","https://openalex.org/W2055201760","https://openalex.org/W2064738160","https://openalex.org/W2076061593","https://openalex.org/W2103120971","https://openalex.org/W2113286054","https://openalex.org/W2128990851","https://openalex.org/W2153340051","https://openalex.org/W2169528473","https://openalex.org/W2213691076","https://openalex.org/W2306644740","https://openalex.org/W2341848647","https://openalex.org/W2465192128","https://openalex.org/W2515498963","https://openalex.org/W2914468948","https://openalex.org/W2965703230","https://openalex.org/W3023492798","https://openalex.org/W3032399187","https://openalex.org/W3115050275","https://openalex.org/W3141583383","https://openalex.org/W4212978625"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"This":[0,37],"paper":[1],"focuses":[2],"on":[3,69],"the":[4,18,48,56,70,103],"real-time":[5],"obstacle":[6,62,93],"avoidance":[7,63,94],"and":[8,32,77,91],"safe":[9],"navigation":[10],"of":[11,43,88],"autonomous":[12],"ground":[13],"vehicles":[14],"(AGVs).":[15],"It":[16],"introduces":[17],"Selective":[19],"MPC-PF-PSO":[20],"algorithm,":[21],"which":[22],"includes":[23],"model":[24],"predictive":[25],"control":[26],"(MPC),":[27],"Artificial":[28],"Potential":[29],"Fields":[30],"(APFs),":[31],"particle":[33],"swarm":[34],"optimization":[35],"(PSO).":[36],"approach":[38],"involves":[39],"defining":[40],"multiple":[41],"sets":[42],"coefficients":[44],"for":[45,60],"adaptability":[46],"to":[47,99],"surrounding":[49],"environment.":[50],"The":[51,65],"simulation":[52],"results":[53],"demonstrate":[54],"that":[55],"algorithm":[57,66],"is":[58],"appropriate":[59],"generating":[61],"paths.":[64],"was":[67,97],"implemented":[68],"ROS":[71],"platform":[72],"using":[73],"NVIDIA\u2019s":[74],"Jetson":[75],"Xavier,":[76],"driving":[78],"experiments":[79],"were":[80],"conducted":[81],"with":[82],"a":[83],"steer-type":[84],"AGV.":[85],"Through":[86],"measurements":[87],"computation":[89],"time":[90],"real":[92,104],"experiments,":[95],"it":[96],"shown":[98],"be":[100],"practical":[101],"in":[102],"world.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}