A path planning algorithm for mobile robot based on water flow potential field method and beetle antennae search algorithm
Aiming at the problems that beetle antennae search algorithm is difficult and easy to avoid obstacles when solving path planning problems, and falls into local optimization, which leads to low efficiency, a path planning algorithm of mobile robot combining the water flow potential field method and t...
Saved in:
| Published in | Computers & electrical engineering Vol. 109; p. 108730 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.08.2023
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 0045-7906 1879-0755 |
| DOI | 10.1016/j.compeleceng.2023.108730 |
Cover
| Abstract | Aiming at the problems that beetle antennae search algorithm is difficult and easy to avoid obstacles when solving path planning problems, and falls into local optimization, which leads to low efficiency, a path planning algorithm of mobile robot combining the water flow potential field method and the beetle antennae search is proposed. Path planning divides the global path into segments by setting up segmented sites by using the beetle genetic operator. Local path planning between sites is classified according to the characteristics of obstacles, and the artificial potential field method is used to guide the search. The nature of water flow method is used to plan the obstacle avoidance route, optimize the obstacle avoidance process, and effectively avoid falling into local trap obstacles. Finally, the site coordinates are optimized by the beetle antennae search algorithm to improve the path quality and prevent the path from falling into local optimum. The simulation results show that the algorithm can effectively avoid obstacles in various path planning environments, has the characteristics of short time consumption, good optimization effect, and is not easy to fall into local optimization, and is an efficient algorithm for solving the path planning problem of mobile robots. |
|---|---|
| AbstractList | Aiming at the problems that beetle antennae search algorithm is difficult and easy to avoid obstacles when solving path planning problems, and falls into local optimization, which leads to low efficiency, a path planning algorithm of mobile robot combining the water flow potential field method and the beetle antennae search is proposed. Path planning divides the global path into segments by setting up segmented sites by using the beetle genetic operator. Local path planning between sites is classified according to the characteristics of obstacles, and the artificial potential field method is used to guide the search. The nature of water flow method is used to plan the obstacle avoidance route, optimize the obstacle avoidance process, and effectively avoid falling into local trap obstacles. Finally, the site coordinates are optimized by the beetle antennae search algorithm to improve the path quality and prevent the path from falling into local optimum. The simulation results show that the algorithm can effectively avoid obstacles in various path planning environments, has the characteristics of short time consumption, good optimization effect, and is not easy to fall into local optimization, and is an efficient algorithm for solving the path planning problem of mobile robots. |
| ArticleNumber | 108730 |
| Author | Yuan, Jian Li, Yongsheng Yuan, Changan Yu, Zhiheng Deng, Song |
| Author_xml | – sequence: 1 givenname: Zhiheng surname: Yu fullname: Yu, Zhiheng organization: College of Electronic Information, Guangxi Minzu University, Nanning Guangxi 530006, China – sequence: 2 givenname: Jian surname: Yuan fullname: Yuan, Jian email: yuanjian@gxmzu.edu.cn organization: College of Electronic Information, Guangxi Minzu University, Nanning Guangxi 530006, China – sequence: 3 givenname: Yongsheng surname: Li fullname: Li, Yongsheng organization: School of Artificial Intelligence, Guangxi Minzu University, Nanning Guangxi 530006, China – sequence: 4 givenname: Changan surname: Yuan fullname: Yuan, Changan organization: Guangxi Academy of Sciences, Nanning Guangxi 530007, China – sequence: 5 givenname: Song surname: Deng fullname: Deng, Song organization: Institute of Advanced Technology, Nanjing University of Posts & Telecommunications, Nanjing 210003, China |
| BookMark | eNqNkM9KAzEQh4Mo2FbfIT7A1iS77XZPUor_QPCi5zCZzLYp2WTJBkWf3i0VFE-ehhnm9w3zTdlpiIEYu5JiLoVcXu_nGLuePCGF7VwJVY7zVV2KEzaRq7opRL1YnLKJENWiqBuxPGfTYdiLsV_K1YR9rnkPecd7DyG4sOXgtzG5vOt4GxPvonGeeIomZm5gIMtj4O-QKfHWx3fex0whO_C8deQt7yjvouUQLDdEecxCGDcCEB8IEu5-Dlywsxb8QJffdcZe725fNg_F0_P942b9VGCpZC6WthVoEKSlZkG2wqah2tiqaWpEAimNEaiqGhRUYIwSVklb1tQqq3CFUM7YzZGLKQ5Dolajy5BdDDmB81oKfVCp9_qXSn1QqY8qR0Lzh9An10H6-Fd2c8zS-OKbo6QHdBSQrEuEWdvo_kH5AqOAnHo |
| CitedBy_id | crossref_primary_10_3390_s24010101 crossref_primary_10_3390_biomimetics9010039 crossref_primary_10_1177_09544062241228391 crossref_primary_10_1016_j_robot_2024_104822 crossref_primary_10_3390_math11214552 crossref_primary_10_1038_s41598_024_80461_8 crossref_primary_10_3390_electronics13050972 crossref_primary_10_1109_JIOT_2024_3459918 crossref_primary_10_3390_electronics12163483 crossref_primary_10_1177_01423312241282832 crossref_primary_10_1016_j_aej_2024_02_048 crossref_primary_10_3934_era_2024315 crossref_primary_10_1038_s41598_024_72196_3 |
| Cites_doi | 10.1016/j.procs.2018.01.113 10.1109/TITS.2022.3153133 10.1109/TITS.2022.3155488 10.1007/s11771-006-0111-8 10.1007/s11036-017-0932-8 10.1109/ACCESS.2019.2928059 10.1109/ACCESS.2019.2949271 |
| ContentType | Journal Article |
| Copyright | 2023 |
| Copyright_xml | – notice: 2023 |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.compeleceng.2023.108730 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1879-0755 |
| ExternalDocumentID | 10_1016_j_compeleceng_2023_108730 S0045790623001544 |
| GroupedDBID | --K --M .DC .~1 0R~ 1B1 1~. 1~5 29F 4.4 457 4G. 5GY 5VS 7-5 71M 8P~ 9JN AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO AAYFN ABBOA ABEFU ABFNM ABJNI ABMAC ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ACZNC ADBBV ADEZE ADJOM ADMUD ADTZH AEBSH AECPX AEKER AENEX AFFNX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AHZHX AIALX AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AOUOD ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA GBOLZ HLZ HVGLF HZ~ IHE J1W JJJVA KOM LG9 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. PQQKQ Q38 R2- RIG ROL RPZ RXW SBC SDF SDG SDP SES SET SEW SPC SPCBC SST SSV SSZ T5K TAE TN5 UHS VOH WH7 WUQ XPP ZMT ~G- ~S- AATTM AAXKI AAYWO AAYXX ABWVN ACLOT ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AGQPQ AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP CITATION EFKBS ~HD |
| ID | FETCH-LOGICAL-c321t-6df0cbca1de95ed4c99e7bd4997ccea11bb0c247a2a4abb20d21d37ef2d2c8ca3 |
| IEDL.DBID | .~1 |
| ISSN | 0045-7906 |
| IngestDate | Wed Oct 01 05:21:49 EDT 2025 Thu Apr 24 23:05:02 EDT 2025 Fri Feb 23 02:35:21 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Path planning Water flow method Mobile robot Beetle antennae search algorithm Artificial potential field method Avoidance |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c321t-6df0cbca1de95ed4c99e7bd4997ccea11bb0c247a2a4abb20d21d37ef2d2c8ca3 |
| ParticipantIDs | crossref_citationtrail_10_1016_j_compeleceng_2023_108730 crossref_primary_10_1016_j_compeleceng_2023_108730 elsevier_sciencedirect_doi_10_1016_j_compeleceng_2023_108730 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | August 2023 2023-08-00 |
| PublicationDateYYYYMMDD | 2023-08-01 |
| PublicationDate_xml | – month: 08 year: 2023 text: August 2023 |
| PublicationDecade | 2020 |
| PublicationTitle | Computers & electrical engineering |
| PublicationYear | 2023 |
| Publisher | Elsevier Ltd |
| Publisher_xml | – name: Elsevier Ltd |
| References | Yang, Zhang, Zhang, Song (b16) 2021; 57 Zhang, Duan, Zhang, Wang (b10) 2020 Lamini, Benhlima, Elbekri (b6) 2018; 127 Lu, Zhang, Xu, Li, Shen (b3) 2020; PP Tan, Huan, Sloman (b7) 2006; 13 Lin, Wang, Liu, Lu (b9) 2019; 1284 Tang, Li, Wang, Zhang, Yin (b8) 2010 Dong, Zhao (b21) 2021; 06 Li, Li, Cai, Yang, Yang, Zhao (b28) 2021 Zhang, Li, Jiang, Ma, Ma (b12) 2020; PP Jiang, Li (b22) 2017; 1 Wang, Hu, Fang (b24) 2014; 50 Qi, Li, Liu (b17) 2020; 35 Zhou, Chen, Dong, Chi, Chen (b11) 2020; PP You (b26) 2018; 33 Yang, Lu, Li (b5) 2023; 24 Li, Wang, Bai, Sheng (b20) 2012; 030 Mao (b23) 2021; 1992 Zhu, You (b25) 2018; 54 Kathib (b14) 1986 Zhang, He, Yuan, Ran (b27) 2022; 37 Zheng, Li, Yang, Lu (b2) 2022; 23 Ding, Du, Zhao, Yi (b18) 2016; 36 Han, Hong, Meng (b15) 2004; 4 Lu, Li, Chen, Kim, Serikawa (b1) 2018; 23 Wang, Wu, Lin, Li, Chen (b13) 2019; 7 Liu, Dou (b19) 2021; 1965 Zheng, Li, Yang, Lu (b4) 2022; 23 Yang (10.1016/j.compeleceng.2023.108730_b5) 2023; 24 Lu (10.1016/j.compeleceng.2023.108730_b3) 2020; PP Lin (10.1016/j.compeleceng.2023.108730_b9) 2019; 1284 Zhou (10.1016/j.compeleceng.2023.108730_b11) 2020; PP Li (10.1016/j.compeleceng.2023.108730_b20) 2012; 030 Tang (10.1016/j.compeleceng.2023.108730_b8) 2010 Li (10.1016/j.compeleceng.2023.108730_b28) 2021 Qi (10.1016/j.compeleceng.2023.108730_b17) 2020; 35 Lamini (10.1016/j.compeleceng.2023.108730_b6) 2018; 127 Wang (10.1016/j.compeleceng.2023.108730_b13) 2019; 7 You (10.1016/j.compeleceng.2023.108730_b26) 2018; 33 Mao (10.1016/j.compeleceng.2023.108730_b23) 2021; 1992 Kathib (10.1016/j.compeleceng.2023.108730_b14) 1986 Zheng (10.1016/j.compeleceng.2023.108730_b4) 2022; 23 Jiang (10.1016/j.compeleceng.2023.108730_b22) 2017; 1 Zhang (10.1016/j.compeleceng.2023.108730_b12) 2020; PP Zhu (10.1016/j.compeleceng.2023.108730_b25) 2018; 54 Liu (10.1016/j.compeleceng.2023.108730_b19) 2021; 1965 Yang (10.1016/j.compeleceng.2023.108730_b16) 2021; 57 Wang (10.1016/j.compeleceng.2023.108730_b24) 2014; 50 Zheng (10.1016/j.compeleceng.2023.108730_b2) 2022; 23 Lu (10.1016/j.compeleceng.2023.108730_b1) 2018; 23 Zhang (10.1016/j.compeleceng.2023.108730_b27) 2022; 37 Dong (10.1016/j.compeleceng.2023.108730_b21) 2021; 06 Ding (10.1016/j.compeleceng.2023.108730_b18) 2016; 36 Tan (10.1016/j.compeleceng.2023.108730_b7) 2006; 13 Zhang (10.1016/j.compeleceng.2023.108730_b10) 2020 Han (10.1016/j.compeleceng.2023.108730_b15) 2004; 4 |
| References_xml | – volume: 23 start-page: 22312 year: 2022 end-page: 22319 ident: b2 article-title: Global-PBNet: A novel point cloud registration for autonomous driving publication-title: IEEE Trans Intell Transp Syst – volume: 23 start-page: 22312 year: 2022 end-page: 22319 ident: b4 article-title: Global-PBNet: A novel point cloud registration for autonomous driving publication-title: IEEE Trans Intell Transp Syst – year: 1986 ident: b14 article-title: Real-time obstacle avoidance for manipulators and mobile robots – volume: 1284 year: 2019 ident: b9 article-title: Research on global path planning method of mobile robot based on BAS – volume: 127 start-page: 180 year: 2018 end-page: 189 ident: b6 article-title: Genetic algorithm based approach for autonomous mobile robot path planning publication-title: Procedia Comput Sci – volume: PP start-page: 1 year: 2020 ident: b11 article-title: An improved beetle swarm optimization algorithm for the intelligent navigation control of autonomous sailing robots publication-title: IEEE Access – start-page: 34 year: 2010 end-page: 38 ident: b8 article-title: An improved PSO for path planning of mobile robots and its parameters discussion publication-title: 2010 International conference on intelligent control and information processing – volume: 35 start-page: 38 year: 2020 end-page: 47 ident: b17 article-title: Three-dimensional path planning of UAV based on water flow thought publication-title: J Xuzhou Inst Technol – volume: 06 start-page: 169 year: 2021 end-page: 173 ident: b21 article-title: Robot navigation path planning based on ant colony algorithm guided by artificial potential field publication-title: Mech Des Manuf – volume: 24 start-page: 1126 year: 2023 end-page: 1133 ident: b5 article-title: Multifeature fusion-based object detection for intelligent transportation systems publication-title: IEEE Trans Intell Transp Syst – volume: 1992 year: 2021 ident: b23 article-title: Research on robot path planning based on improved ant colony algorithm under computer background publication-title: J Phys Conf Ser – volume: 37 start-page: 11 year: 2022 ident: b27 article-title: Mobile robot path planning based on improved double-layer ant colony algorithm publication-title: Control Decis – start-page: 1586 year: 2020 end-page: 1589 ident: b10 article-title: Particle swarm optimization algorithm based on Beetle Antennae Search algorithm to solve path planning problem publication-title: 2020 IEEE 4th information technology, networking, electronic and automation control conference. Vol. 1 – volume: 1965 year: 2021 ident: b19 article-title: Research on obstacle avoidance of small cruise vehicle based on improved artificial potential field method publication-title: J Phys Conf Ser – volume: PP start-page: 1 year: 2020 ident: b12 article-title: Beetle colony optimization algorithm and its application publication-title: IEEE Access – start-page: 49 year: 2021 end-page: 52 ident: b28 article-title: Path planning of mobile robot based on improved ant colony algorithm publication-title: Modul Mach Tool Autom Process Technol – volume: 13 start-page: p.80 year: 2006 end-page: 86 ident: b7 article-title: Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm publication-title: J Cent South Univ Technol – volume: 1 year: 2017 ident: b22 article-title: Beetle antennae search algorithm for optimization problems publication-title: Int J Robot Control – volume: 36 start-page: 4 year: 2016 ident: b18 article-title: UAV path planning algorithm based on improved artificial potential field method publication-title: Comput Appl – volume: 50 start-page: 63 year: 2014 end-page: 66 ident: b24 article-title: Robot path planning based on improved ant colony algorithm – volume: 030 start-page: 215 year: 2012 end-page: 220 ident: b20 article-title: UAV path planning based on ant colony optimization algorithm and artificial potential field publication-title: J Appl Sci – volume: 33 year: 2018 ident: b26 article-title: An improved ant colony system algorithm for robot path planning and performance analysis publication-title: Int J Rob Autom – volume: 23 start-page: 368 year: 2018 end-page: 375 ident: b1 article-title: Brain intelligence: Go beyond artificial intelligence publication-title: Mob Netw Appl – volume: 4 start-page: 53 year: 2004 end-page: 57 ident: b15 article-title: A new path planning method-water flow method publication-title: High Technol Commun – volume: 57 start-page: 6 year: 2021 ident: b16 article-title: Real-time path planning of robot velocity potential in grid map environment publication-title: Comput Eng Appl – volume: PP start-page: 1 year: 2020 ident: b3 article-title: Deep fuzzy hashing network for efficient image retrieval publication-title: IEEE Trans Fuzzy Syst – volume: 7 start-page: 154331 year: 2019 end-page: 154345 ident: b13 article-title: A new trajectory-planning beetle swarm optimization algorithm for trajectory planning of robot manipulators publication-title: IEEE Access – volume: 54 start-page: 129 year: 2018 end-page: 134 ident: b25 article-title: Research on robot path planning based on improved ant colony algorithm publication-title: Comput Eng Appl – volume: 37 start-page: 11 issue: 2 year: 2022 ident: 10.1016/j.compeleceng.2023.108730_b27 article-title: Mobile robot path planning based on improved double-layer ant colony algorithm publication-title: Control Decis – volume: 1992 issue: 3 year: 2021 ident: 10.1016/j.compeleceng.2023.108730_b23 article-title: Research on robot path planning based on improved ant colony algorithm under computer background publication-title: J Phys Conf Ser – volume: 127 start-page: 180 year: 2018 ident: 10.1016/j.compeleceng.2023.108730_b6 article-title: Genetic algorithm based approach for autonomous mobile robot path planning publication-title: Procedia Comput Sci doi: 10.1016/j.procs.2018.01.113 – volume: 35 start-page: 38 issue: 4 year: 2020 ident: 10.1016/j.compeleceng.2023.108730_b17 article-title: Three-dimensional path planning of UAV based on water flow thought publication-title: J Xuzhou Inst Technol – volume: 57 start-page: 6 issue: 24 year: 2021 ident: 10.1016/j.compeleceng.2023.108730_b16 article-title: Real-time path planning of robot velocity potential in grid map environment publication-title: Comput Eng Appl – volume: 06 start-page: 169 year: 2021 ident: 10.1016/j.compeleceng.2023.108730_b21 article-title: Robot navigation path planning based on ant colony algorithm guided by artificial potential field publication-title: Mech Des Manuf – volume: 1 issue: 1 year: 2017 ident: 10.1016/j.compeleceng.2023.108730_b22 article-title: Beetle antennae search algorithm for optimization problems publication-title: Int J Robot Control – start-page: 49 year: 2021 ident: 10.1016/j.compeleceng.2023.108730_b28 article-title: Path planning of mobile robot based on improved ant colony algorithm publication-title: Modul Mach Tool Autom Process Technol – volume: 23 start-page: 22312 issue: 11 year: 2022 ident: 10.1016/j.compeleceng.2023.108730_b2 article-title: Global-PBNet: A novel point cloud registration for autonomous driving publication-title: IEEE Trans Intell Transp Syst doi: 10.1109/TITS.2022.3153133 – volume: 1965 issue: 1 year: 2021 ident: 10.1016/j.compeleceng.2023.108730_b19 article-title: Research on obstacle avoidance of small cruise vehicle based on improved artificial potential field method publication-title: J Phys Conf Ser – start-page: 34 year: 2010 ident: 10.1016/j.compeleceng.2023.108730_b8 article-title: An improved PSO for path planning of mobile robots and its parameters discussion – volume: 54 start-page: 129 issue: 19 year: 2018 ident: 10.1016/j.compeleceng.2023.108730_b25 article-title: Research on robot path planning based on improved ant colony algorithm publication-title: Comput Eng Appl – volume: 1284 year: 2019 ident: 10.1016/j.compeleceng.2023.108730_b9 article-title: Research on global path planning method of mobile robot based on BAS – volume: PP start-page: 1 issue: 99 year: 2020 ident: 10.1016/j.compeleceng.2023.108730_b12 article-title: Beetle colony optimization algorithm and its application publication-title: IEEE Access – volume: PP start-page: 1 issue: 99 year: 2020 ident: 10.1016/j.compeleceng.2023.108730_b3 article-title: Deep fuzzy hashing network for efficient image retrieval publication-title: IEEE Trans Fuzzy Syst – volume: 24 start-page: 1126 issue: 1 year: 2023 ident: 10.1016/j.compeleceng.2023.108730_b5 article-title: Multifeature fusion-based object detection for intelligent transportation systems publication-title: IEEE Trans Intell Transp Syst doi: 10.1109/TITS.2022.3155488 – volume: 23 start-page: 22312 issue: 11 year: 2022 ident: 10.1016/j.compeleceng.2023.108730_b4 article-title: Global-PBNet: A novel point cloud registration for autonomous driving publication-title: IEEE Trans Intell Transp Syst doi: 10.1109/TITS.2022.3153133 – year: 1986 ident: 10.1016/j.compeleceng.2023.108730_b14 – volume: 33 issue: 5 year: 2018 ident: 10.1016/j.compeleceng.2023.108730_b26 article-title: An improved ant colony system algorithm for robot path planning and performance analysis publication-title: Int J Rob Autom – volume: 36 start-page: 4 issue: 1 year: 2016 ident: 10.1016/j.compeleceng.2023.108730_b18 article-title: UAV path planning algorithm based on improved artificial potential field method publication-title: Comput Appl – volume: 030 start-page: 215 issue: 002 year: 2012 ident: 10.1016/j.compeleceng.2023.108730_b20 article-title: UAV path planning based on ant colony optimization algorithm and artificial potential field publication-title: J Appl Sci – volume: 13 start-page: p.80 issue: 1 year: 2006 ident: 10.1016/j.compeleceng.2023.108730_b7 article-title: Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm publication-title: J Cent South Univ Technol doi: 10.1007/s11771-006-0111-8 – volume: 23 start-page: 368 year: 2018 ident: 10.1016/j.compeleceng.2023.108730_b1 article-title: Brain intelligence: Go beyond artificial intelligence publication-title: Mob Netw Appl doi: 10.1007/s11036-017-0932-8 – start-page: 1586 year: 2020 ident: 10.1016/j.compeleceng.2023.108730_b10 article-title: Particle swarm optimization algorithm based on Beetle Antennae Search algorithm to solve path planning problem – volume: 50 start-page: 63 year: 2014 ident: 10.1016/j.compeleceng.2023.108730_b24 article-title: Robot path planning based on improved ant colony algorithm – volume: PP start-page: 1 issue: 99 year: 2020 ident: 10.1016/j.compeleceng.2023.108730_b11 article-title: An improved beetle swarm optimization algorithm for the intelligent navigation control of autonomous sailing robots publication-title: IEEE Access doi: 10.1109/ACCESS.2019.2928059 – volume: 7 start-page: 154331 year: 2019 ident: 10.1016/j.compeleceng.2023.108730_b13 article-title: A new trajectory-planning beetle swarm optimization algorithm for trajectory planning of robot manipulators publication-title: IEEE Access doi: 10.1109/ACCESS.2019.2949271 – volume: 4 start-page: 53 year: 2004 ident: 10.1016/j.compeleceng.2023.108730_b15 article-title: A new path planning method-water flow method publication-title: High Technol Commun |
| SSID | ssj0004618 |
| Score | 2.4665177 |
| Snippet | Aiming at the problems that beetle antennae search algorithm is difficult and easy to avoid obstacles when solving path planning problems, and falls into local... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 108730 |
| SubjectTerms | Artificial potential field method Avoidance Beetle antennae search algorithm Mobile robot Path planning Water flow method |
| Title | A path planning algorithm for mobile robot based on water flow potential field method and beetle antennae search algorithm |
| URI | https://dx.doi.org/10.1016/j.compeleceng.2023.108730 |
| Volume | 109 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Baden-Württemberg Complete Freedom Collection (Elsevier) customDbUrl: eissn: 1879-0755 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0004618 issn: 0045-7906 databaseCode: GBLVA dateStart: 20110101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier Science Direct customDbUrl: eissn: 1879-0755 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0004618 issn: 0045-7906 databaseCode: ACRLP dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals [SCFCJ] customDbUrl: eissn: 1879-0755 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0004618 issn: 0045-7906 databaseCode: AIKHN dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: ScienceDirect (Elsevier) customDbUrl: eissn: 1879-0755 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0004618 issn: 0045-7906 databaseCode: .~1 dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVLSH databaseName: Elsevier Journals customDbUrl: mediaType: online eissn: 1879-0755 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0004618 issn: 0045-7906 databaseCode: AKRWK dateStart: 19730601 isFulltext: true providerName: Library Specific Holdings |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1LS8NAEF6KguhBfOKbEbxGs48kDXgpxVIVPVnwFvaVWmmTUCKCB3-7O91UKwgKHhMYNszMziN8Mx8hZ0zHQoVKBLHhLBB5FAUyTnUQScU1iySnBv933N3H_YG4eYweW6Q7n4VBWGUT-31Mn0Xr5s1Fo82LajTCGV8RJbhml3sqLZxgFwmyGJy_04XZSOqjscDVjGG8Qk6_MF4I20a6GVsMz5FHHBF3CQKif8pRC3mnt0HWm4IROv6bNknLFltkbWGN4DZ56wASC0PVEBCBHA9L1_Q_TcCVpDAplbv6MC1VWQNmLQNlAa-uyJxCPi5foSprxAy5U2Z4NvCs0iALA8pa50yA6i8KacFfjK8Ddsigd_XQ7QcNp0KgOaO1M0keaqUlNTaNrBE6TW2ijOt7Eq2tpFSpUDORSCaFVIqFhlHDE5szw3RbS75LloqysHsEcqq4dRGDxpaLOKcyV9ZVI2nuWqS2YWyftOdazHSzcBx5L8bZHFn2nC0YIEMDZN4A-4R9ilZ-68ZfhC7npsq-uVDmssPv4gf_Ez8kq_jksYFHZKmevthjV6_U6mTmkCdkuXN927__AK8q7wc |
| linkProvider | Elsevier |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1LS-RAEC58gK6HxV2VHdfVWvAaTT-STGAvIiujznhS8Bb6FR-MyTBEBjz42-2azugICy54TSg6VFXXI3xVH8A-N6nUsZZRagWPZJkkkUpzEyVKC8MTJZil_x2Di7R3Jc-uk-sFOJ7NwhCsso39IaZPo3X75LDV5uHo7o5mfGWS0ZpdEai0FmFZJjyjDuzgmc0NR7IQjiXtZozTFfj9BvIi3Dbxzbjq5oCIxAlylxEi-l9Jai7xnKzD17ZixKPwUd9gwVXfYW1uj-AGPB0hMQvjqGUgQjW8qX3Xf_uAvibFh1r7u4_jWtcNUtqyWFc48VXmGMthPcFR3RBoyJ8yBbRhoJVGVVnUznlvQtJ_VSmH4Wa8HbAJVyd_L497UUuqEBnBWeNtUsZGG8WsyxNnpclzl2nrG5_MGKcY0zo2XGaKK6m05rHlzIrMldxy0zVKbMFSVVfuB2DJtHA-ZLDUCZmWTJXa-XIkL32P1LWcd6A702Jh2o3jRHwxLGbQsvtizgAFGaAIBugAfxUdhbUb_yP0Z2aq4p0PFT49fCy-_TnxPVjtXQ76Rf_04vwnfKE3ASi4A0vN-NH98sVLo3enzvkCO1XwnA |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=A+path+planning+algorithm+for+mobile+robot+based+on+water+flow+potential+field+method+and+beetle+antennae+search+algorithm&rft.jtitle=Computers+%26+electrical+engineering&rft.au=Yu%2C+Zhiheng&rft.au=Yuan%2C+Jian&rft.au=Li%2C+Yongsheng&rft.au=Yuan%2C+Changan&rft.date=2023-08-01&rft.pub=Elsevier+Ltd&rft.issn=0045-7906&rft.eissn=1879-0755&rft.volume=109&rft_id=info:doi/10.1016%2Fj.compeleceng.2023.108730&rft.externalDocID=S0045790623001544 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0045-7906&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0045-7906&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0045-7906&client=summon |