{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,5,16]],"date-time":"2023-05-16T07:52:09Z","timestamp":1684223529264},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2014,4,1]],"date-time":"2014-04-01T00:00:00Z","timestamp":1396310400000},"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":[[2015,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, robot kinematic model and non-holonomic constraint are considered in the problem. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints. Local minima are avoided by choosing intermediate objectives based on the real-time environment.<\/jats:p>","DOI":"10.1017\/s0263574714000186","type":"journal-article","created":{"date-parts":[[2014,4,1]],"date-time":"2014-04-01T12:41:01Z","timestamp":1396356061000},"page":"1017-1031","source":"Crossref","is-referenced-by-count":5,"title":["Local path planning for mobile robots based on intermediate objectives"],"prefix":"10.1017","volume":"33","author":[{"given":"Yingchong","family":"Ma","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gang","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wilfrid","family":"Perruquetti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhaopeng","family":"Qiu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,4,1]]},"reference":[{"key":"S0263574714000186_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/BF01386390"},{"key":"S0263574714000186_ref18","doi-asserted-by":"crossref","unstructured":"O. Khatib , \u201cReal-Time Obstacle Avoidance for Manipulators and Mobile Robots,\u201d Proceedings of the 1985 IEEE International Conference on Robotics and Automation, vol. 2 (1985) pp. 500\u2013505.","DOI":"10.1109\/ROBOT.1985.1087247"},{"key":"S0263574714000186_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"S0263574714000186_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574798000289"},{"key":"S0263574714000186_ref29","volume-title":"Technical Report","author":"Lawrence","year":"1995"},{"key":"S0263574714000186_ref11","doi-asserted-by":"crossref","first-page":"341","DOI":"10.3844\/jcssp.2008.341.344","article-title":"A mobile robot path planning using genetic algorithm in static environment","volume":"4","author":"Ismail","year":"2008","journal-title":"J. Comput. Sci."},{"key":"S0263574714000186_ref30","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623498344562"},{"key":"S0263574714000186_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/BF00270450"},{"key":"S0263574714000186_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/70.928558"},{"key":"S0263574714000186_ref14","doi-asserted-by":"crossref","unstructured":"A. Stentz , \u201cOptimal and Efficient Path Planning for Partially-Known Environments,\u201d Proceedings of the 1994 IEEE International Conference on Robotics and Automation (1994), pp. 3310\u20133317.","DOI":"10.1109\/ROBOT.1994.351061"},{"key":"S0263574714000186_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1985.6313352"},{"key":"S0263574714000186_ref1","volume-title":"Concise Oxford Dictionary","author":"Pearsall","year":"2001"},{"key":"S0263574714000186_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1987.5006533"},{"key":"S0263574714000186_ref19","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"S0263574714000186_ref26","doi-asserted-by":"crossref","unstructured":"I. Kamon , E. Rimon and E. Rivlin , \u201cA New Range-Sensor Based Globally Convergent Navigation Algorithm for Mobile Robots,\u201d Proceedings of the 1996 IEEE International Conference on Robotics and Automation, vol. 1 (Apr. 1996) pp. 429\u2013435.","DOI":"10.1109\/ROBOT.1996.503814"},{"key":"S0263574714000186_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0036069"},{"key":"S0263574714000186_ref13","volume-title":"Principles of Artificial Intelligence","author":"Nilsson","year":"1980"},{"key":"S0263574714000186_ref20","doi-asserted-by":"crossref","unstructured":"Y. Koren and J. Borenstein , \u201cPotential Field Methods and Their Inherent Limitations for Mobile Robot Navigation,\u201d Proceedings of the 1991 IEEE International Conference on Robotics and Automation, vol. 2 (1991) pp. 1398\u20131404.","DOI":"10.1109\/ROBOT.1991.131810"},{"key":"S0263574714000186_ref5","doi-asserted-by":"crossref","unstructured":"H.-P. Huang and S.-Y. Chung , \u201cDynamic Visibility Graph for Path Planning,\u201d Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), vol. 3 (2004) pp. 2813\u20132818.","DOI":"10.1109\/IROS.2004.1389835"},{"key":"S0263574714000186_ref23","doi-asserted-by":"crossref","unstructured":"Y. Guo and T. Tang , \u201cOptimal Trajectory Generation for Nonholonomic Robots in Dynamic Environments,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2008) (May 2008) pp. 2552\u20132557.","DOI":"10.1109\/ROBOT.2008.4543597"},{"key":"S0263574714000186_ref3","unstructured":"D. Glava\u0161ki , M. Volf and M. Bonkovic , \u201cRobot Motion Planning Using Exact Cell Decomposition and Potential Field Methods,\u201d Proceedings of the 9th WSEAS International Conference on Simulation, Modelling and Optimization (SMO'09) (2009) pp. 126\u2013131."},{"key":"S0263574714000186_ref25","doi-asserted-by":"crossref","unstructured":"A. Kokosy , F.-O. Defaux and W. Perruquetti , \u201cAutonomous Navigation of a Nonholonomic Mobile Robot in a Complex Environment,\u201d Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR 2008) (2008) pp. 102\u2013108.","DOI":"10.1109\/SSRR.2008.4745885"},{"key":"S0263574714000186_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840369"},{"key":"S0263574714000186_ref12","doi-asserted-by":"publisher","DOI":"10.1002\/cpa.3160360305"},{"key":"S0263574714000186_ref4","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511780929"},{"key":"S0263574714000186_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/37.476384"},{"key":"S0263574714000186_ref31","doi-asserted-by":"publisher","DOI":"10.1016\/0020-0190(72)90045-2"},{"key":"S0263574714000186_ref24","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004700"},{"key":"S0263574714000186_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/9.57020"},{"key":"S0263574714000186_ref27","doi-asserted-by":"publisher","DOI":"10.1080\/00207179508921959"},{"key":"S0263574714000186_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/0196-6774(85)90021-5"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000186","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,21]],"date-time":"2019-04-21T01:05:06Z","timestamp":1555808706000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000186\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4,1]]},"references-count":31,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2015,5]]}},"alternative-id":["S0263574714000186"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000186","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,4,1]]}}}