{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,24]],"date-time":"2025-11-24T16:43:43Z","timestamp":1764002623002,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2023,2,8]],"date-time":"2023-02-08T00:00:00Z","timestamp":1675814400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"KEGA","award":["028STU-4\/2022","AO\/1-10044\/19\/NL\/SC","313011ATR9"],"award-info":[{"award-number":["028STU-4\/2022","AO\/1-10044\/19\/NL\/SC","313011ATR9"]}]},{"name":"ESA","award":["028STU-4\/2022","AO\/1-10044\/19\/NL\/SC","313011ATR9"],"award-info":[{"award-number":["028STU-4\/2022","AO\/1-10044\/19\/NL\/SC","313011ATR9"]}]},{"name":"European Regional Development Fund","award":["028STU-4\/2022","AO\/1-10044\/19\/NL\/SC","313011ATR9"],"award-info":[{"award-number":["028STU-4\/2022","AO\/1-10044\/19\/NL\/SC","313011ATR9"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This article is focused on the problematics of path planning, which means finding the optimal path between two points in a known environment with obstacles. The proposed path-planning method uses the wavefront algorithm, and two modifications are implemented and verified. The first modification is the removal of redundant waypoints. The first modification is applied because the wavefront algorithm generates redundant waypoints. These waypoints cause unnecessary changes in the direction of movement. The second one is smoothing the generated trajectory using B-spline curves. The reason for applying the second modification is that trajectory generated by the wavefront algorithm is in the form of the polyline, which is inadequate in terms of the smoothness of the robot\u2019s motion. The verification of the proposed method is performed in environments with different densities of obstacles compared with standard Dijkstra\u2019s and A* algorithms.<\/jats:p>","DOI":"10.3390\/robotics12010025","type":"journal-article","created":{"date-parts":[[2023,2,8]],"date-time":"2023-02-08T02:29:08Z","timestamp":1675823348000},"page":"25","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8676-0681","authenticated-orcid":false,"given":"Martin","family":"Psotka","sequence":"first","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, Slovakia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4140-9737","authenticated-orcid":false,"given":"Franti\u0161ek","family":"Ducho\u0148","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, Slovakia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1203-3446","authenticated-orcid":false,"given":"Mykhailyshyn","family":"Roman","sequence":"additional","affiliation":[{"name":"Texas Robotics, College of Natural Sciences and the Cockrell School of Engineering, The University of Texas at Austin, Austin, TX 78712, USA"},{"name":"Department of Automation of Technological Processes and Manufacturing, Ternopil Ivan Puluj National Technical University, 46001 Ternopil, Ukraine"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1697-1197","authenticated-orcid":false,"given":"T\u00f6lgyessy","family":"Michal","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, Slovakia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2453-212X","authenticated-orcid":false,"given":"Dobi\u0161","family":"Michal","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, Slovakia"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1109\/MRA.2006.1678144","article-title":"Simultaneous localization and mapping: Part I","volume":"13","author":"Bailey","year":"2006","journal-title":"IEEE Robot. 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