{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:58:44Z","timestamp":1760345924827},"reference-count":34,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2007,3,1]],"date-time":"2007-03-01T00:00:00Z","timestamp":1172707200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The proposed algorithm integrates in a single planner the global motion planning and local obstacle avoidance capabilities. It efficiently guides the robot in a dynamic environment. This eliminates some of the traditional problems of planned architectures (model-plan-act scheme) while obtaining many of the qualities of behavior-based architectures. The computational efficiency of the method allows the planner to operate at high-rate sensor frequencies. This avoids the need for using both a collision-avoidance algorithm and a global motion planner for navigation in a cluttered environment. The method combines map-based and sensor-based planning operations to provide a smooth and reliable motion plan. Operating on a simple grid-based world model, the method uses a fast marching technique to determine a motion plan on a Voronoi extended transform extracted from the environment model. In addition to this real-time response ability, the method produces smooth and safe robot trajectories.<\/jats:p>","DOI":"10.1017\/s0263574707003384","type":"journal-article","created":{"date-parts":[[2007,2,14]],"date-time":"2007-02-14T09:36:59Z","timestamp":1171445819000},"page":"189-199","source":"Crossref","is-referenced-by-count":24,"title":["Sensor-based global planning for mobile robot navigation"],"prefix":"10.1017","volume":"25","author":[{"given":"S.","family":"Garrido","sequence":"first","affiliation":[]},{"given":"L.","family":"Moreno","sequence":"additional","affiliation":[]},{"given":"D.","family":"Blanco","sequence":"additional","affiliation":[]},{"given":"M. L.","family":"Munoz","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2007,3,1]]},"reference":[{"key":"S0263574707003384_N1062A","unstructured":"34. Smirnov V. I. , (1964), A course on higher mathematics: Pergamon Press."},{"key":"S0263574707003384_N105D4","unstructured":"31. Garrido S. and Moreno L. , \u201cRobotic navigation using harmonic functions and finite elements,\u201d in Proceedings of the Intelligent Autonomous System (IAS'9), Tokyo, Japan (2006) pp. 94\u2013103."},{"key":"S0263574707003384_N10554","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00209-9"},{"key":"S0263574707003384_N10532","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Minguez","year":"2001"},{"key":"S0263574707003384_N104E4","first-page":"309","volume-title":"Acta Numerica","author":"Sethian","year":"1996"},{"key":"S0263574707003384_N10490","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2003.1177156"},{"key":"S0263574707003384_N10429","doi-asserted-by":"publisher","DOI":"10.1109\/34.391389"},{"key":"S0263574707003384_N10406","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.02.009"},{"key":"S0263574707003384_N103DC","doi-asserted-by":"publisher","DOI":"10.1109\/70.163777"},{"key":"S0263574707003384_N105F1","unstructured":"32. Fomel S. , \u201cA variational formulation of the fast marching eikonal solver,\u201d Stanford Exploration Project, Technical Report (2000) pp. 455\u2013477."},{"key":"S0263574707003384_N1037A","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.820849"},{"key":"S0263574707003384_N10595","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1023\/B:JINT.0000021023.56384.55","article-title":"Autonomous learning architecture for environmental mapping","volume":"39","author":"Prestes","year":"2004","journal-title":"J. Intell. Robot. Syst."},{"key":"S0263574707003384_N1027F","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"S0263574707003384_N10235","first-page":"219","volume-title":"Proceedings of the 1st International Conference on Autonomous Agents and Multiagent (AMAS'02)","author":"Low","year":"2002"},{"key":"S0263574707003384_N101DE","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(96)81009-8"},{"key":"S0263574707003384_N1019F","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700402"},{"key":"S0263574707003384_N10163","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(05)80031-4"},{"key":"S0263574707003384_N10140","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"S0263574707003384_N1011F","first-page":"42","article-title":"Planning in a hierarchical nested autonomous control system","volume":"727","author":"Meystel","year":"1986","journal-title":"Mobile Robots, SPIE Proc."},{"key":"S0263574707003384_N103BF","doi-asserted-by":"crossref","unstructured":"19. Koren Y. and Borenstein J. , \u201cPotential field methods and their inherent limitations for mobile robot navigation,\u201d in Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA (1991) pp. 1398\u20131404.","DOI":"10.1109\/ROBOT.1991.131810"},{"key":"S0263574707003384_N102BB","doi-asserted-by":"publisher","DOI":"10.1109\/70.88137"},{"key":"S0263574707003384_N102E5","doi-asserted-by":"crossref","unstructured":"13. Ulrich I. and Borenstein J. , \u201cVfh+: Reliable obstacle avoidance for fast mobile robots,\u201d in Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 1572\u20131577.","DOI":"10.1109\/ROBOT.1998.677362"},{"key":"S0263574707003384_N10461","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcp.2005.08.005"},{"key":"S0263574707003384_N1034B","doi-asserted-by":"publisher","DOI":"10.1109\/100.580977"},{"key":"S0263574707003384_N1029A","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"S0263574707003384_N10264","volume-title":"Level Set Methods","author":"Sethian","year":"1996"},{"key":"S0263574707003384_N104C1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.93.4.1591"},{"key":"S0263574707003384_N101FF","doi-asserted-by":"publisher","DOI":"10.1007\/3540608052_67"},{"key":"S0263574707003384_N10508","doi-asserted-by":"publisher","DOI":"10.1006\/jcph.1995.1098"},{"key":"S0263574707003384_N103A2","doi-asserted-by":"crossref","unstructured":"18. Quinlan S. and Khatib O. , \u201cElastic bands: Connecting path planning and control,\u201d in Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA (1993) pp. 802\u2013807.","DOI":"10.1109\/ROBOT.1993.291936"},{"key":"S0263574707003384_N1032A","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.511023"},{"key":"S0263574707003384_N10184","volume-title":"Behaviour-Based Robotics","author":"Arkin","year":"1998"},{"key":"S0263574707003384_N10607","doi-asserted-by":"publisher","DOI":"10.1090\/S0025-5718-04-01678-3"},{"key":"S0263574707003384_N10302","first-page":"2505","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Ulrich","year":"2000"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003384","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,4]],"date-time":"2019-04-04T22:09:35Z","timestamp":1554415775000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003384\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,3]]},"references-count":34,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2007,3]]}},"alternative-id":["S0263574707003384"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003384","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,3]]}}}