{"id":"https://openalex.org/W3200370875","doi":"https://doi.org/10.1155/2021/4109821","title":"Smooth Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm","display_name":"Smooth Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm","publication_year":2021,"publication_date":"2021-09-09","ids":{"openalex":"https://openalex.org/W3200370875","doi":"https://doi.org/10.1155/2021/4109821","mag":"3200370875"},"language":"en","primary_location":{"id":"doi:10.1155/2021/4109821","doi":"https://doi.org/10.1155/2021/4109821","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/4109821","pdf_url":"https://downloads.hindawi.com/journals/jr/2021/4109821.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-c","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2021/4109821.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100684161","display_name":"Wenming Wang","orcid":"https://orcid.org/0000-0002-8056-0520","observed_orcids":["https://orcid.org/0000-0002-8056-0520"]},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenming Wang","raw_affiliation_strings":["Experimental Training Teaching Management Department, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":"https://orcid.org/0000-0002-8056-0520","affiliations":[{"raw_affiliation_string":"Experimental Training Teaching Management Department, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025943230","display_name":"Jiangdong Zhao","orcid":"https://orcid.org/0000-0002-6540-2540","observed_orcids":["https://orcid.org/0000-0002-6540-2540"]},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiangdong Zhao","raw_affiliation_strings":["Experimental Training Teaching Management Department, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":"https://orcid.org/0000-0002-6540-2540","affiliations":[{"raw_affiliation_string":"Experimental Training Teaching Management Department, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089459701","display_name":"Zebin Li","orcid":"https://orcid.org/0000-0003-3285-1857","observed_orcids":["https://orcid.org/0000-0003-3285-1857"]},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zebin Li","raw_affiliation_strings":["Robot Maker Laboratory, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":"https://orcid.org/0000-0003-3285-1857","affiliations":[{"raw_affiliation_string":"Robot Maker Laboratory, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101430878","display_name":"Ji Da Huang","orcid":"https://orcid.org/0000-0003-2223-6439","observed_orcids":["https://orcid.org/0000-0003-2223-6439"]},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Huang","raw_affiliation_strings":["Experimental Training Teaching Management Department, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":"https://orcid.org/0000-0003-2223-6439","affiliations":[{"raw_affiliation_string":"Experimental Training Teaching Management Department, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5025943230","https://openalex.org/A5100684161"],"corresponding_institution_ids":["https://openalex.org/I4210147745"],"apc_list":{"value":1100,"currency":"USD","value_usd":1100},"apc_paid":{"value":1100,"currency":"USD","value_usd":1100},"fwci":1.5043,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.80743698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"2021","issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.012900000438094139,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/3311","display_name":"Safety Research"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot-path-planning","display_name":"mobile robot path planning","score":0.9660000205039978},{"id":"https://openalex.org/keywords/ant-colony-optimization","display_name":"ant colony optimization","score":0.8429999947547913},{"id":"https://openalex.org/keywords/path-smoothing","display_name":"path smoothing","score":0.8799999952316284},{"id":"https://openalex.org/keywords/pheromone-updating-rule","display_name":"pheromone updating rule","score":0.847000002861023},{"id":"https://openalex.org/keywords/heuristic-information","display_name":"heuristic information","score":0.7170000076293945},{"id":"https://openalex.org/keywords/turning-angle","display_name":"turning angle","score":0.777999997138977},{"id":"https://openalex.org/keywords/local-optima-avoidance","display_name":"local optima avoidance","score":0.8299999833106995},{"id":"https://openalex.org/keywords/max-min-ant-system","display_name":"Max-Min Ant System","score":0.9570000171661377},{"id":"https://openalex.org/keywords/global-path-planning","display_name":"global path planning","score":0.8550000190734863}],"concepts":[{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.7747378349304199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7300332188606262},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6828282475471497},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6284024715423584},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.6031075716018677},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5486423373222351},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.548332929611206},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5241958498954773},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.521079421043396},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5041476488113403},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4922851622104645},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.4901035726070404},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4813014566898346},{"id":"https://openalex.org/C91370436","wikidata":"https://www.wikidata.org/wiki/Q5608616","display_name":"Grid method multiplication","level":3,"score":0.4532717764377594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44758784770965576},{"id":"https://openalex.org/C2779859299","wikidata":"https://www.wikidata.org/wiki/Q7602527","display_name":"Start point","level":3,"score":0.42606014013290405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3219842314720154},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.21901321411132812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1658969521522522},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2987804222","wikidata":"https://www.wikidata.org/wiki/Q5376582","display_name":"End point","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2021/4109821","doi":"https://doi.org/10.1155/2021/4109821","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/4109821","pdf_url":"https://downloads.hindawi.com/journals/jr/2021/4109821.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-c","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9dd8abc3522e4a9fb5aae1acc63ff09a","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/9dd8abc3522e4a9fb5aae1acc63ff09a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2021 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2021/4109821","doi":"https://doi.org/10.1155/2021/4109821","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/4109821","pdf_url":"https://downloads.hindawi.com/journals/jr/2021/4109821.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-c","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1348532104","display_name":null,"funder_award_id":"2020jyxm2151","funder_id":"https://openalex.org/F4320333879","funder_display_name":"Anhui Provincial Quality Engineering Project"},{"id":"https://openalex.org/G6257732520","display_name":null,"funder_award_id":"gxyq2019072","funder_id":"https://openalex.org/F4320333879","funder_display_name":"Anhui Provincial Quality Engineering Project"}],"funders":[{"id":"https://openalex.org/F4320333879","display_name":"Anhui Provincial Quality Engineering Project","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3200370875.pdf","grobid_xml":"https://content.openalex.org/works/W3200370875.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W2018002617","https://openalex.org/W2028298819","https://openalex.org/W2044885213","https://openalex.org/W2045443260","https://openalex.org/W2051246063","https://openalex.org/W2099652466","https://openalex.org/W2107631366","https://openalex.org/W2107941094","https://openalex.org/W2154929945","https://openalex.org/W2163983984","https://openalex.org/W2169528473","https://openalex.org/W2735526446","https://openalex.org/W2774597868","https://openalex.org/W2780688515","https://openalex.org/W2791860092","https://openalex.org/W2862591586","https://openalex.org/W2895739173","https://openalex.org/W2905301715","https://openalex.org/W2917738746","https://openalex.org/W2939018330","https://openalex.org/W2947741813","https://openalex.org/W2981274127","https://openalex.org/W2999750513","https://openalex.org/W3005731019","https://openalex.org/W3034533053","https://openalex.org/W3035667745","https://openalex.org/W3042497295","https://openalex.org/W3081803538","https://openalex.org/W3111873728","https://openalex.org/W3127026341","https://openalex.org/W4246172160"],"related_works":["https://openalex.org/W4392008701","https://openalex.org/W4407576276","https://openalex.org/W2799726513","https://openalex.org/W4280609321","https://openalex.org/W4408860796","https://openalex.org/W4396917931","https://openalex.org/W7113897760","https://openalex.org/W2750547320","https://openalex.org/W2392880752","https://openalex.org/W3195782895"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,39,46,56,61,65,72,80,84,88,94,99,102,105,110,114,119,125,128,133,137,151,155,159,162,172,180,189,196,214],"problems":[3],"of":[4,16,83,104,113,127,136,154,219],"slow":[5],"convergence,":[6],"easy":[7],"to":[8,54,64,79,149,170,175],"fall":[9],"into":[10],"local":[11,181],"optimum,":[12],"and":[13,49,87,91,109,141,200,204],"poor":[14],"smoothness":[15,126],"traditional":[17],"ant":[18,28,57,191],"colony":[19,29,58,192],"algorithm":[20,30,167,193],"in":[21,179],"mobile":[22,220],"robot":[23,115,138],"path":[24,33,69,130,144,198,206,216],"planning,":[25],"an":[26],"improved":[27,76,190],"based":[31,44],"on":[32,45],"smoothing":[34],"factor":[35],"was":[36,42,52,131,147,168],"proposed.":[37],"Firstly,":[38],"environment":[40],"map":[41],"constructed":[43],"grid":[47,51,63,67],"method,":[48],"each":[50],"marked":[53],"make":[55],"move":[59],"from":[60],"initial":[62],"target":[66],"for":[68],"search.":[70],"Then,":[71],"heuristic":[73,100],"information":[74,82],"is":[75,107,116],"by":[77],"referring":[78],"direction":[81,103],"starting":[85],"point":[86,90],"end":[89],"combining":[92],"with":[93,207],"turning":[95,111,134],"angle.":[96],"By":[97],"improving":[98],"information,":[101],"search":[106,195],"increased":[108],"angle":[112],"reduced.":[117],"Finally,":[118],"pheromone":[120,152,173],"updating":[121],"rules":[122],"were":[123,139],"improved,":[124],"two-dimensional":[129],"considered,":[132],"times":[135],"reduced,":[140],"a":[142,202],"new":[143],"evaluation":[145],"function":[146],"introduced":[148],"enhance":[150],"differentiation":[153],"effective":[156],"path.":[157,183],"At":[158],"same":[160],"time,":[161],"Max-Min":[163],"Ant":[164],"System":[165],"(MMAS)":[166],"used":[169],"limit":[171],"concentration":[174],"avoid":[176],"being":[177],"trapped":[178],"optimum":[182],"The":[184],"simulation":[185],"results":[186],"show":[187],"that":[188],"can":[194],"optimal":[197],"length":[199],"plan":[201],"smoother":[203],"safer":[205],"fast":[208],"convergence":[209],"speed,":[210],"which":[211],"effectively":[212],"solves":[213],"global":[215],"planning":[217],"problem":[218],"robot.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2021-09-27T00:00:00"}