{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:27:57Z","timestamp":1760236077699,"version":"build-2065373602"},"reference-count":26,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2021,10,21]],"date-time":"2021-10-21T00:00:00Z","timestamp":1634774400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>The paper addresses the problem of mobile robots\u2019 navigation using a hexagonal lattice. We carried out experiments in which we used a vehicle equipped with a set of sensors. Based on the data, a traversable map was created. The experimental results proved that hexagonal maps of an environment can be easily built based on sensor readings. The path planning method has many advantages: the situation in which obstacles surround the position of the robot or the target is easily detected, and we can influence the properties of the path, e.g., the distance from obstacles or the type of surface can be taken into account. A path can be smoothed more easily than with a rectangular grid.<\/jats:p>","DOI":"10.3390\/rs13214216","type":"journal-article","created":{"date-parts":[[2021,10,21]],"date-time":"2021-10-21T23:27:39Z","timestamp":1634858859000},"page":"4216","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Hexagonal Grid-Based Framework for Mobile Robot Navigation"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0828-1727","authenticated-orcid":false,"given":"Piotr","family":"Duszak","sequence":"first","affiliation":[{"name":"Institute of Automatic Control and Robotics, Warsaw University of Technology, 02-525 Warsaw, Poland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7691-1375","authenticated-orcid":false,"given":"Barbara","family":"Siemi\u0105tkowska","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control and Robotics, Warsaw University of Technology, 02-525 Warsaw, Poland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2952-4775","authenticated-orcid":false,"given":"Rafa\u0142","family":"Wi\u0119ckowski","sequence":"additional","affiliation":[{"name":"\u0141ukasiewicz Research Network\u2014Industrial Research Institute for Automation and Measurements PIAP, 02-486 Warsaw, Poland"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,21]]},"reference":[{"key":"ref_1","first-page":"198","article-title":"The application of hexagonal grids in mobile robot Navigation","volume":"Volume 1044","author":"Duszak","year":"2020","journal-title":"Proceedings of the Conference Mechatronics, Recent Advances Towards Industry, Advances in Intelligent Systems and Computing"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Reinoso, O., and Pay\u00e1, L. 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