{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T10:57:16Z","timestamp":1780570636436,"version":"3.54.1"},"reference-count":74,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2024,12,6]],"date-time":"2024-12-06T00:00:00Z","timestamp":1733443200000},"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":[[2025,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper presents Hybrid Modified A* (HMA*) algorithm which is used to control an omnidirectional mecanum wheel automated guided vehicle (AGV). HMA* employs Modified A* and PSO to determine the best AGV path. The HMA* overcomes the A* technique\u2019s drawbacks, including a large number of nodes, imprecise trajectories, long calculation times, and expensive path initialization. Repetitive point removal refines Modified A*\u2019s path to locate more important nodes. Real-time hardware control experiments and extensive simulations using Matlab software prove the HMA* technique works well. To evaluate the practicability and efficiency of HMA* in route planning and control for AGVs, various algorithms are introduced like A*, Probabilistic Roadmap (PRM), Rapidly-exploring Random Tree (RRT), and bidirectional RRT (Bi-RRT). Simulations and real-time testing show that HMA* path planning algorithm reduces AGV running time and path length compared to the other algorithms. The HMA* algorithm shows promising results, providing an enhancement and outperforming A*, PRM, RRT, and Bi-RRT in the average length of the path by 12.08%, 10.26%, 7.82%, and 4.69%, and in average motion time by 21.88%, 14.84%, 12.62%, and 8.23%, respectively. With an average deviation of 4.34% in path length and 3% in motion time between simulation and experiments, HMA* closely approximates real-world conditions. Thus, the proposed HMA* algorithm is ideal for omnidirectional mecanum wheel AGV\u2019s static as well as dynamic movements, making it a reliable and efficient alternative for sophisticated AGV control systems.<\/jats:p>","DOI":"10.1017\/s0263574724001954","type":"journal-article","created":{"date-parts":[[2024,12,5]],"date-time":"2024-12-05T22:09:43Z","timestamp":1733436583000},"page":"449-498","source":"Crossref","is-referenced-by-count":11,"title":["An omnidirectional mecanum wheel automated guided vehicle control using hybrid modified A* algorithm"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-3133-8365","authenticated-orcid":false,"given":"Ankur","family":"Bhargava","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1438-5963","authenticated-orcid":false,"given":"Mohammad","family":"Suhaib","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7538-4086","authenticated-orcid":false,"given":"Ajay K. S.","family":"Singholi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2024,12,6]]},"reference":[{"key":"S0263574724001954_ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3142859"},{"key":"S0263574724001954_ref73","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3311357"},{"key":"S0263574724001954_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2022.9661472"},{"key":"S0263574724001954_ref67","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001133"},{"key":"S0263574724001954_ref28","doi-asserted-by":"publisher","DOI":"10.1177\/09544062211062435"},{"key":"S0263574724001954_ref16","first-page":"1","article-title":"Dynamic modeling of wheeled biped robot and controller design for reducing chassis tilt angle","author":"Mao","year":"2024","journal-title":"Robotica"},{"key":"S0263574724001954_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574718000875"},{"key":"S0263574724001954_ref7","first-page":"400","article-title":"An intelligent path planning algorithm and control strategy design for multi-mobile robots based on a modified elman recurrent neural network","volume":"15","author":"Kanoon","year":"2022","journal-title":"Int J Intell Eng Syst"},{"key":"S0263574724001954_ref22","doi-asserted-by":"publisher","DOI":"10.3390\/s22176581"},{"key":"S0263574724001954_ref10","first-page":"167","article-title":"Static and dynamic path planning algorithms design for a wheeled mobile robot based on a hybrid technique","volume":"15","author":"Rasheed","year":"2022","journal-title":"Int J Intell Eng Syst"},{"key":"S0263574724001954_ref32","doi-asserted-by":"publisher","DOI":"10.3390\/electronics9071072"},{"key":"S0263574724001954_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2022.3195769"},{"key":"S0263574724001954_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ITAIC54216.2022.9836465"},{"key":"S0263574724001954_ref38","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2022.3211766"},{"key":"S0263574724001954_ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICNC.2009.343"},{"key":"S0263574724001954_ref59","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2023.3234428"},{"key":"S0263574724001954_ref52","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2022.3229109"},{"key":"S0263574724001954_ref61","doi-asserted-by":"crossref","unstructured":"[61] Jingjing, H. , Xun, L. , Wenzhe, M. , Xin, Y. and Dong, Y. . Path Planning Method for Mobile Robot Based on Multiple Improved PSO. In: 2021 40th Chinese Control Conference (CCC), Shanghai, China (2021) pp. 1485\u20131489, 10.23919\/CCC52363.2021.9550590","DOI":"10.23919\/CCC52363.2021.9550590"},{"key":"S0263574724001954_ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722000121"},{"key":"S0263574724001954_ref62","doi-asserted-by":"publisher","DOI":"10.3390\/app13052919"},{"key":"S0263574724001954_ref70","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000473"},{"key":"S0263574724001954_ref63","doi-asserted-by":"publisher","DOI":"10.1017\/S026357472400016X"},{"key":"S0263574724001954_ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s11831-021-09694-4"},{"key":"S0263574724001954_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001819"},{"key":"S0263574724001954_ref39","doi-asserted-by":"publisher","DOI":"10.23919\/CCC58697.2023.10240797"},{"key":"S0263574724001954_ref48","doi-asserted-by":"publisher","DOI":"10.1080\/08839514.2023.2166232"},{"key":"S0263574724001954_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICICTA.2009.561"},{"key":"S0263574724001954_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.cie.2022.108123"},{"key":"S0263574724001954_ref51","doi-asserted-by":"publisher","DOI":"10.23919\/CCC58697.2023.10240961"},{"key":"S0263574724001954_ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICECOCS50124.2020.9314533"},{"key":"S0263574724001954_ref74","doi-asserted-by":"publisher","DOI":"10.1109\/ISEE59483.2023.10299844"},{"key":"S0263574724001954_ref44","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-018-0129-x"},{"key":"S0263574724001954_ref60","doi-asserted-by":"publisher","DOI":"10.1109\/BIBM52615.2021.9669876"},{"key":"S0263574724001954_ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ICCCNT56998.2023.10306665"},{"key":"S0263574724001954_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574724000493"},{"key":"S0263574724001954_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/INFOCT.2019.8711024"},{"key":"S0263574724001954_ref72","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574724001383"},{"key":"S0263574724001954_ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ChiCC.2015.7260001"},{"key":"S0263574724001954_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574718001236"},{"key":"S0263574724001954_ref4","doi-asserted-by":"publisher","DOI":"10.3390\/pr11041202"},{"key":"S0263574724001954_ref20","doi-asserted-by":"publisher","DOI":"10.3390\/vehicles3030027"},{"key":"S0263574724001954_ref8","volume-title":"Hybrid Soft Computing for Image Segmentation","author":"El Aziz","year":"2016"},{"key":"S0263574724001954_ref3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574724000377"},{"key":"S0263574724001954_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001625"},{"key":"S0263574724001954_ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ISTT.2014.7238187"},{"key":"S0263574724001954_ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ICCECE58074.2023.10135365"},{"key":"S0263574724001954_ref55","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574724000511"},{"key":"S0263574724001954_ref13","first-page":"1","article-title":"Trajectory tracking control of a mobile robot using fuzzy logic controller with optimal parameters","author":"Tolossa","year":"2024","journal-title":"Robotica"},{"key":"S0263574724001954_ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s12652-021-03625-8"},{"key":"S0263574724001954_ref29","doi-asserted-by":"publisher","DOI":"10.3390\/electronics12112456"},{"key":"S0263574724001954_ref40","doi-asserted-by":"publisher","DOI":"10.3390\/s21134389"},{"key":"S0263574724001954_ref30","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000195"},{"key":"S0263574724001954_ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ICCECT57938.2023.10141167"},{"key":"S0263574724001954_ref65","doi-asserted-by":"publisher","DOI":"10.1109\/ICAECC59324.2023.10560331"},{"key":"S0263574724001954_ref66","doi-asserted-by":"publisher","DOI":"10.1017\/S026357472400078X"},{"key":"S0263574724001954_ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-015-7329-2"},{"key":"S0263574724001954_ref41","doi-asserted-by":"publisher","DOI":"10.3390\/s23083988"},{"key":"S0263574724001954_ref68","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574724000675"},{"key":"S0263574724001954_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s13369-014-1461-4"},{"key":"S0263574724001954_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA52036.2021.9512805"},{"key":"S0263574724001954_ref34","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2716"},{"key":"S0263574724001954_ref36","first-page":"8","article-title":"Research into the automatic guidance system for AGVs used for logistics based on millimeter wave radar imaging","volume":"2022","author":"Lin","year":"2022","journal-title":"Wire Commun Mobile Comput"},{"key":"S0263574724001954_ref58","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722001606"},{"key":"S0263574724001954_ref71","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001078"},{"key":"S0263574724001954_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICDDS56399.2022.10037275"},{"key":"S0263574724001954_ref43","doi-asserted-by":"crossref","first-page":"828","DOI":"10.1109\/TCAD.1987.1270326","article-title":"Simultaneous floor planning and global routing for hierarchical building-block layout","volume":"6","author":"Dai","year":"1987","journal-title":"IEEE Tran Comput-Aided Des Integr Circuits and Syst"},{"key":"S0263574724001954_ref57","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001789"},{"key":"S0263574724001954_ref64","doi-asserted-by":"publisher","DOI":"10.1007\/s41870-023-01438-w"},{"key":"S0263574724001954_ref45","doi-asserted-by":"publisher","DOI":"10.1007\/s40430-024-04896-w"},{"key":"S0263574724001954_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-022-10044-x"},{"key":"S0263574724001954_ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ICIIBMS46890.2019.8991502"},{"key":"S0263574724001954_ref5","first-page":"565","article-title":"Al-Araji \u201cPath planning and control strategy design for mobile robot based on hybrid swarm optimization algorithm","volume":"14","author":"Wahhab","year":"2021","journal-title":"Int J Intell Eng Syst"},{"key":"S0263574724001954_ref33","doi-asserted-by":"publisher","DOI":"10.3934\/mbe.2022585"},{"key":"S0263574724001954_ref11","doi-asserted-by":"publisher","DOI":"10.3390\/s20154258"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574724001954","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,13]],"date-time":"2025-07-13T12:30:54Z","timestamp":1752409854000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574724001954\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,6]]},"references-count":74,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2025,2]]}},"alternative-id":["S0263574724001954"],"URL":"https:\/\/doi.org\/10.1017\/s0263574724001954","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,6]]}}}