{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T13:53:50Z","timestamp":1761486830528},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[1997,9,1]],"date-time":"1997-09-01T00:00:00Z","timestamp":873072000000},"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":[[1997,9]]},"abstract":"<jats:p>This paper presents a novel time-optimal motion planning strategy for \na mobile robot with kinematic constraints. The method works in environments \nin presence of obstacles, without needing to generate the configuration space \nfor the robot. Further, it derives a minimum time first derivative smooth path, \nas opposed to a minimum distance path which is commonly given by various present \nsolution techniques. The problem is solved in three stages: (i) A reduced \nvisibility graph for a point object is obtained. (ii) The reduced visibility \ngraph is converted into a feasible reduced visibility graph accounting for the \nsize and kinematic constraints of the robot. (iii) The A* algorithm is used to \nsearch the feasible reduced visibility graph with the cost function being the \ntime of travel, to obtain a safe, time-optimal, smooth path. The algorithm runs \nin polynomial time. The method has been tested in computer simulations and test \nresults are presented<\/jats:p>","DOI":"10.1017\/s0263574797000635","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"547-553","source":"Crossref","is-referenced-by-count":23,"title":["Time-optimal smooth-path motion planning for a mobile robot with kinematic constraints"],"prefix":"10.1017","volume":"15","author":[{"given":"K.","family":"Jiang","sequence":"first","affiliation":[]},{"given":"L.D.","family":"Seneviratne","sequence":"additional","affiliation":[]},{"given":"S.W.E.","family":"Earles","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[1997,9,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000635","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,8]],"date-time":"2019-04-08T20:35:58Z","timestamp":1554755758000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000635\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,9]]},"references-count":0,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1997,9]]}},"alternative-id":["S0263574797000635"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000635","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,9]]}}}