{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,8]],"date-time":"2026-02-08T08:53:52Z","timestamp":1770540832382,"version":"3.49.0"},"reference-count":27,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2024,3,8]],"date-time":"2024-03-08T00:00:00Z","timestamp":1709856000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003701","name":"Basic Research Project of KIMM","doi-asserted-by":"publisher","award":["NK242I"],"award-info":[{"award-number":["NK242I"]}],"id":[{"id":"10.13039\/501100003701","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003701","name":"Basic Research Project of KIMM","doi-asserted-by":"publisher","award":["2020M3C1C1A02086421"],"award-info":[{"award-number":["2020M3C1C1A02086421"]}],"id":[{"id":"10.13039\/501100003701","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003701","name":"Basic Research Project of KIMM","doi-asserted-by":"publisher","award":["CRC23041-400"],"award-info":[{"award-number":["CRC23041-400"]}],"id":[{"id":"10.13039\/501100003701","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001321","name":"National Research Foundation of Korea (NRF)","doi-asserted-by":"publisher","award":["NK242I"],"award-info":[{"award-number":["NK242I"]}],"id":[{"id":"10.13039\/501100001321","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001321","name":"National Research Foundation of Korea (NRF)","doi-asserted-by":"publisher","award":["2020M3C1C1A02086421"],"award-info":[{"award-number":["2020M3C1C1A02086421"]}],"id":[{"id":"10.13039\/501100001321","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001321","name":"National Research Foundation of Korea (NRF)","doi-asserted-by":"publisher","award":["CRC23041-400"],"award-info":[{"award-number":["CRC23041-400"]}],"id":[{"id":"10.13039\/501100001321","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Research Council of Science &amp; Technology (NST)","award":["NK242I"],"award-info":[{"award-number":["NK242I"]}]},{"name":"National Research Council of Science &amp; Technology (NST)","award":["2020M3C1C1A02086421"],"award-info":[{"award-number":["2020M3C1C1A02086421"]}]},{"name":"National Research Council of Science &amp; Technology (NST)","award":["CRC23041-400"],"award-info":[{"award-number":["CRC23041-400"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper focuses on the real-time obstacle avoidance and safe navigation of autonomous ground vehicles (AGVs). It introduces the Selective MPC-PF-PSO algorithm, which includes model predictive control (MPC), Artificial Potential Fields (APFs), and particle swarm optimization (PSO). This approach involves defining multiple sets of coefficients for adaptability to the surrounding environment. The simulation results demonstrate that the algorithm is appropriate for generating obstacle avoidance paths. The algorithm was implemented on the ROS platform using NVIDIA\u2019s Jetson Xavier, and driving experiments were conducted with a steer-type AGV. Through measurements of computation time and real obstacle avoidance experiments, it was shown to be practical in the real world.<\/jats:p>","DOI":"10.3390\/robotics13030046","type":"journal-article","created":{"date-parts":[[2024,3,8]],"date-time":"2024-03-08T10:10:52Z","timestamp":1709892652000},"page":"46","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Development of Local Path Planning Using Selective Model Predictive Control, Potential Fields, and Particle Swarm Optimization"],"prefix":"10.3390","volume":"13","author":[{"given":"Mingeuk","family":"Kim","sequence":"first","affiliation":[{"name":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1871-7873","authenticated-orcid":false,"given":"Minyoung","family":"Lee","sequence":"additional","affiliation":[{"name":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"}]},{"given":"Byeongjin","family":"Kim","sequence":"additional","affiliation":[{"name":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"}]},{"given":"Moohyun","family":"Cha","sequence":"additional","affiliation":[{"name":"Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,8]]},"reference":[{"key":"ref_1","first-page":"1135","article-title":"A review of motion planning techniques for automated vehicles","volume":"17","author":"Nashashibi","year":"2015","journal-title":"IEEE Trans. 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