{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,15]],"date-time":"2025-10-15T10:35:24Z","timestamp":1760524524217,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,8,4]],"date-time":"2023-08-04T00:00:00Z","timestamp":1691107200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Hamburg University of Applied Sciences","award":["K-LM20-HP01-35"],"award-info":[{"award-number":["K-LM20-HP01-35"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>For visually impaired people, orientation and mobility are challenging and require a great deal of concentration. Especially unfamiliar routes are difficult to follow. This paper presents a navigation algorithm based on a geographic information system that can be optimally adapted to the needs of this user group. A three-stage process is being developed for this purpose. The first step is to check the map against ISO 19157, followed by map augmentation and the generation of a navigable graph. Finally, a new cost function for an A* algorithm is developed to make the best use of the modified map data and adapt it to the user\u2019s needs. It is shown that map data from the geographic information system OpenStreetMap is well suited to the task, although the map data needs to be verified and augmented with additional information before being used. Finally, we compare the presented solution with a standard A* algorithm.<\/jats:p>","DOI":"10.3390\/robotics12040113","type":"journal-article","created":{"date-parts":[[2023,8,5]],"date-time":"2023-08-05T10:21:39Z","timestamp":1691230899000},"page":"113","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Application of Path Planning for a Mobile Robot Assistance System Based on OpenStreetMap Data"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-6850-7563","authenticated-orcid":false,"given":"Pascal","family":"Stahr","sequence":"first","affiliation":[{"name":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4988-8285","authenticated-orcid":false,"given":"Jochen","family":"Maa\u00df","sequence":"additional","affiliation":[{"name":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany"}]},{"given":"Henner","family":"G\u00e4rtner","sequence":"additional","affiliation":[{"name":"Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences (HAW Hamburg), Berliner Tor 5, D-20099 Hamburg, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2023,8,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Bashkanov, O., Seidel, M., Yakymets, M., Daupayev, N., Sharonov, Y., Assmann, T., Schmidt, S., and Zug, S. (2019, January 17\u201318). Exploiting OpenStreetMap-Data for Outdoor Robotic Applications. Proceedings of the 2019 IEEE International Symposium on Robotic and Sensors Environments (ROSE), Ottawa, ON, Canada.","DOI":"10.1109\/ROSE.2019.8790418"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Floros, G., van der Zander, B., and Leibe, B. (2013, January 6\u201310). OpenStreetSLAM: Global Vehicle Localization Using OpenStreetMaps. Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.","DOI":"10.1109\/ICRA.2013.6630703"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Hentschel, M., and Wagner, B. (2010, January 19\u201322). Autonomous robot navigation based on OpenStreetMap geodata. Proceedings of the 13th International IEEE Conference on Intelligent Transportation Systems, Funchal, Portugal.","DOI":"10.1109\/ITSC.2010.5625092"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Suger, B., and Burgard, W. 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Geographic Information\u2014Data Quality (Standard No. 19157:2013)."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/4\/113\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T20:26:06Z","timestamp":1760127966000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/4\/113"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,4]]},"references-count":28,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2023,8]]}},"alternative-id":["robotics12040113"],"URL":"https:\/\/doi.org\/10.3390\/robotics12040113","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2023,8,4]]}}}