{"id":"https://openalex.org/W2607500080","doi":"https://doi.org/10.3906/elk-1504-194","title":"Obstacle avoidance for mobile robot based on improved dynamic window approach","display_name":"Obstacle avoidance for mobile robot based on improved dynamic window approach","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2607500080","doi":"https://doi.org/10.3906/elk-1504-194","mag":"2607500080"},"language":"en","primary_location":{"id":"doi:10.3906/elk-1504-194","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-1504-194","pdf_url":"https://doi.org/10.3906/elk-1504-194","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING &amp; COMPUTER SCIENCES","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://doi.org/10.3906/elk-1504-194","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101631436","display_name":"Xiuyun Li","orcid":"https://orcid.org/0000-0002-0764-7769"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiuyun LI","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100394604","display_name":"Fei Liu","orcid":"https://orcid.org/0000-0002-1541-501X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fei LIU","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100446295","display_name":"Juan Liu","orcid":"https://orcid.org/0000-0002-1940-5919"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Juan LIU","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Shan LIANG","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shan LIANG","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4267,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.68252958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"25","issue":null,"first_page":"666","last_page":"676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9930999875068665,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9693999886512756,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.8415294289588928},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8330435752868652},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7665241360664368},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6834306120872498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6209969520568848},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5922839045524597},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.5912206172943115},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5250891447067261},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47933706641197205},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4681418538093567},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.41476133465766907},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34770840406417847},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3285820484161377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30927443504333496},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2495613396167755}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.8415294289588928},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8330435752868652},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7665241360664368},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6834306120872498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6209969520568848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5922839045524597},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.5912206172943115},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5250891447067261},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47933706641197205},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4681418538093567},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.41476133465766907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34770840406417847},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3285820484161377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30927443504333496},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2495613396167755},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"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/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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3906/elk-1504-194","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-1504-194","pdf_url":"https://doi.org/10.3906/elk-1504-194","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING &amp; COMPUTER SCIENCES","raw_type":"journal-article"},{"id":"pmh:oai:dergipark.gov.tr:article/400341","is_oa":false,"landing_page_url":"http://dergipark.gov.tr/tbtkelektrik/issue/35783/400341","pdf_url":null,"source":{"id":"https://openalex.org/S4306401840","display_name":"DergiPark (Istanbul University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67581229","host_organization_name":"Istanbul University","host_organization_lineage":["https://openalex.org/I67581229"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"\\n Volume: 25, Issue: 2\\n 666-676\\n \\n","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:dergipark.org.tr:article/400341","is_oa":false,"landing_page_url":"https://dergipark.org.tr/tr/pub/tbtkelektrik/issue/35783/400341","pdf_url":null,"source":{"id":"https://openalex.org/S4306401840","display_name":"DergiPark (Istanbul University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67581229","host_organization_name":"Istanbul University","host_organization_lineage":["https://openalex.org/I67581229"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"\\n Volume: 25, Issue: 2\\n 666-676\\n \\n","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3906/elk-1504-194","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-1504-194","pdf_url":"https://doi.org/10.3906/elk-1504-194","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING &amp; COMPUTER SCIENCES","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324805","display_name":"Chongqing Municipal Education Commission","ror":"https://ror.org/031nm5713"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2112352633","https://openalex.org/W2158014010","https://openalex.org/W2031424614","https://openalex.org/W2322979532","https://openalex.org/W2281433634","https://openalex.org/W1974636618","https://openalex.org/W3122122033","https://openalex.org/W2972716893","https://openalex.org/W2980463973","https://openalex.org/W2173692173"],"abstract_inverted_index":{"The":[0,110],"dynamic":[1,35],"window":[2,36],"approach":[3,37],"has":[4],"the":[5,25,44,47,50,54,67,74,93,96,104],"drawback":[6],"that":[7],"it":[8],"may":[9],"result":[10],"in":[11,76,82],"local":[12,97],"minima":[13,98],"and":[14,53,71,103,112,119],"nonoptimal":[15],"motion":[16],"decision":[17],"for":[18],"obstacle":[19],"avoidance":[20],"because":[21],"of":[22,28,49,69,73],"not":[23],"considering":[24],"size":[26,48],"constraint":[27],"a":[29,83,88],"mobile":[30,51],"robot.":[31],"Thus,":[32],"an":[33],"improved":[34],"is":[38,63,114],"proposed,":[39],"which":[40],"takes":[41],"into":[42],"account":[43],"relation":[45],"between":[46,57],"robot":[52],"free":[55],"space":[56],"obstacles.":[58],"A":[59],"laser":[60],"range":[61],"finder":[62],"employed":[64],"to":[65,78],"improve":[66],"ability":[68],"sensing":[70],"prediction":[72],"environment,":[75],"order":[77],"avoid":[79],"being":[80],"trapped":[81],"U-shaped":[84],"obstacle,":[85],"such":[86],"as":[87],"box":[89],"canyon.":[90],"By":[91],"applying":[92],"proposed":[94],"method,":[95],"problem":[99],"can":[100,107],"be":[101,108],"solved":[102],"optimal":[105],"path":[106],"obtained.":[109],"effectiveness":[111],"superiority":[113],"proven":[115],"by":[116],"theoretic":[117],"analysis":[118],"simulations.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":8},{"year":2018,"cited_by_count":4}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}
