{"id":"https://openalex.org/W4224869245","doi":"https://doi.org/10.3390/s22093295","title":"Robot Navigation Based on Potential Field and Gradient Obtained by Bilinear Interpolation and a Grid-Based Search","display_name":"Robot Navigation Based on Potential Field and Gradient Obtained by Bilinear Interpolation and a Grid-Based Search","publication_year":2022,"publication_date":"2022-04-25","ids":{"openalex":"https://openalex.org/W4224869245","doi":"https://doi.org/10.3390/s22093295","pmid":"https://pubmed.ncbi.nlm.nih.gov/35590987"},"language":"en","primary_location":{"id":"doi:10.3390/s22093295","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22093295","pdf_url":"https://www.mdpi.com/1424-8220/22/9/3295/pdf?version=1650953489","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/9/3295/pdf?version=1650953489","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076144757","display_name":"Gregor Klan\u010dar","orcid":"https://orcid.org/0000-0002-1461-3321"},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Gregor Klan\u010dar","raw_affiliation_strings":["Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka 25, 1000 Ljubljana, Slovenia"],"raw_orcid":"https://orcid.org/0000-0002-1461-3321","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka 25, 1000 Ljubljana, Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037139063","display_name":"Andrej Zde\u0161ar","orcid":"https://orcid.org/0000-0002-2254-6069"},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Andrej Zde\u0161ar","raw_affiliation_strings":["Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka 25, 1000 Ljubljana, Slovenia"],"raw_orcid":"https://orcid.org/0000-0002-2254-6069","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka 25, 1000 Ljubljana, Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101523780","display_name":"Mohan Krishnan","orcid":"https://orcid.org/0009-0004-7992-1482"},"institutions":[{"id":"https://openalex.org/I71792333","display_name":"University of Detroit Mercy","ror":"https://ror.org/0037qsh65","country_code":"US","type":"education","lineage":["https://openalex.org/I71792333"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohan Krishnan","raw_affiliation_strings":["Electrical & Computer Engineering and Computer Science Department, University of Detroit Mercy, Detroit, MI 48208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering and Computer Science Department, University of Detroit Mercy, Detroit, MI 48208, USA","institution_ids":["https://openalex.org/I71792333"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101523780"],"corresponding_institution_ids":["https://openalex.org/I71792333"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.8267,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.86273258,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":"9","first_page":"3295","last_page":"3295"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9965000152587891,"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/bilinear-interpolation","display_name":"Bilinear interpolation","score":0.8183602690696716},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.8009017705917358},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7369225025177002},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6163485646247864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5574771165847778},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5261611342430115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5145620703697205},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4567517042160034},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4549512267112732},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4508410096168518},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43268176913261414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34371423721313477},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2275564968585968},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2241159975528717},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.20146608352661133}],"concepts":[{"id":"https://openalex.org/C205203396","wikidata":"https://www.wikidata.org/wiki/Q612143","display_name":"Bilinear interpolation","level":2,"score":0.8183602690696716},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.8009017705917358},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7369225025177002},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6163485646247864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5574771165847778},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5261611342430115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5145620703697205},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4567517042160034},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4549512267112732},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4508410096168518},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43268176913261414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34371423721313477},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2275564968585968},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2241159975528717},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.20146608352661133},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003199","descriptor_name":"Computer Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003199","descriptor_name":"Computer Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003199","descriptor_name":"Computer Systems","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D013995","descriptor_name":"Time","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013995","descriptor_name":"Time","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013995","descriptor_name":"Time","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22093295","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22093295","pdf_url":"https://www.mdpi.com/1424-8220/22/9/3295/pdf?version=1650953489","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:35590987","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35590987","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:e5aafa23d81f444aaf902db6a5b85814","is_oa":true,"landing_page_url":"https://doaj.org/article/e5aafa23d81f444aaf902db6a5b85814","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 22, Iss 9, p 3295 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/9/3295/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22093295","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":"Sensors; Volume 22; Issue 9; Pages: 3295","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9102480","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9102480","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22093295","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22093295","pdf_url":"https://www.mdpi.com/1424-8220/22/9/3295/pdf?version=1650953489","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4224869245.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1514632510","https://openalex.org/W1586309761","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2040680062","https://openalex.org/W2071401582","https://openalex.org/W2099144379","https://openalex.org/W2103120971","https://openalex.org/W2107131181","https://openalex.org/W2113256452","https://openalex.org/W2116772004","https://openalex.org/W2136957179","https://openalex.org/W2145053972","https://openalex.org/W2157494358","https://openalex.org/W2169528473","https://openalex.org/W2477170489","https://openalex.org/W2898902608","https://openalex.org/W2904196326","https://openalex.org/W3092861125","https://openalex.org/W3111667903","https://openalex.org/W3113073319","https://openalex.org/W3125055412","https://openalex.org/W3156705536","https://openalex.org/W3216898828","https://openalex.org/W3217170181","https://openalex.org/W4213218424","https://openalex.org/W4254621569","https://openalex.org/W6677795800","https://openalex.org/W6681425221","https://openalex.org/W6794473814"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W2367652182","https://openalex.org/W1915958221","https://openalex.org/W2037074416","https://openalex.org/W2174180450","https://openalex.org/W1519931592","https://openalex.org/W2101207231","https://openalex.org/W2741873457","https://openalex.org/W2153809277","https://openalex.org/W2015961810"],"abstract_inverted_index":{"The":[0,56,74],"original":[1],"concept":[2],"of":[3,16,26,59,87,109,136,156],"the":[4,24,31,44,60,71,78,85,88,101,107,110,121,130,134,137,154,157],"artificial":[5],"potential":[6,48],"field":[7,49],"in":[8,29,120],"robot":[9,32],"path":[10],"planning":[11,125],"has":[12],"spawned":[13],"a":[14,39,123],"variety":[15],"extensions":[17],"to":[18,66,70,83,91,104,140,152],"address":[19],"its":[20],"main":[21],"weakness,":[22],"namely":[23],"formation":[25],"local":[27,89],"minima":[28],"which":[30],"may":[33],"be":[34],"trapped.":[35],"In":[36],"this":[37],"paper,":[38],"smooth":[40,93],"navigation":[41,159],"function":[42],"combining":[43],"Dijkstra-based":[45],"discrete":[46],"static":[47,113,131],"evaluation":[50],"with":[51,95,117,133,142],"bilinear":[52,61],"interpolation":[53,62],"is":[54,76,127],"proposed.":[55],"necessary":[57],"modifications":[58],"method":[63],"are":[64,150],"developed":[65,158],"make":[67],"it":[68,81],"applicable":[69],"path-planning":[72],"application.":[73],"effect":[75],"that":[77],"strategy":[79,126],"makes":[80],"possible":[82],"solve":[84],"problem":[86],"minima,":[90],"generate":[92],"paths":[94],"moderate":[96],"computational":[97],"complexity,":[98],"and":[99],"at":[100],"same":[102],"time,":[103],"largely":[105],"preserve":[106],"product":[108],"computationally":[111],"intensive":[112],"plan.":[114],"To":[115],"cope":[116,141],"detected":[118],"changes":[119],"environment,":[122],"simple":[124],"applied,":[128],"bypassing":[129],"plan":[132],"solution":[135],"A*":[138],"algorithm":[139],"dynamic":[143],"discoveries.":[144],"Results":[145],"from":[146],"several":[147],"test":[148],"environments":[149],"presented":[151],"illustrate":[153],"advantages":[155],"model.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-26T13:28:51.108037","created_date":"2025-10-10T00:00:00"}
