{"id":"https://openalex.org/W4200566992","doi":"https://doi.org/10.1109/rcae53607.2021.9638900","title":"A* Algorithm Path Planning and Minimum Snap Trajectory Generation for Mobile Robot","display_name":"A* Algorithm Path Planning and Minimum Snap Trajectory Generation for Mobile Robot","publication_year":2021,"publication_date":"2021-11-04","ids":{"openalex":"https://openalex.org/W4200566992","doi":"https://doi.org/10.1109/rcae53607.2021.9638900"},"language":"en","primary_location":{"id":"doi:10.1109/rcae53607.2021.9638900","doi":"https://doi.org/10.1109/rcae53607.2021.9638900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcae53607.2021.9638900","pdf_url":null,"source":{"id":"https://openalex.org/S7407088727","display_name":"International Conference on Robotics, Control and Automation Engineering (RCAE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th International Conference on Robotics, Control and Automation Engineering (RCAE)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101901154","display_name":"Zhengwei Ma","orcid":"https://orcid.org/0000-0003-0229-7197","observed_orcids":["https://orcid.org/0000-0003-0229-7197"]},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengwei Ma","raw_affiliation_strings":["Shenzhen Technology University,College of Urban Transportation and Logistics,Shenzhen,China","College of Urban Transportation and Logistics, Shenzhen Technology University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Technology University,College of Urban Transportation and Logistics,Shenzhen,China","institution_ids":["https://openalex.org/I4210152380"]},{"raw_affiliation_string":"College of Urban Transportation and Logistics, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073830975","display_name":"Hailun Qiu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]},{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hailun Qiu","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","College of Urban Transportation and Logistics, Shenzhen Technology University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"College of Urban Transportation and Logistics, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076103004","display_name":"Huaizhi Wang","orcid":"https://orcid.org/0000-0001-5458-9154","observed_orcids":["https://orcid.org/0000-0001-5458-9154"]},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaizhi Wang","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005837134","display_name":"Longhao Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longhao Yang","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103418445","display_name":"Lihong Huang","orcid":"https://orcid.org/0000-0002-7294-9587","observed_orcids":["https://orcid.org/0000-0002-7294-9587","https://orcid.org/0009-0002-8921-7697"]},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihong Huang","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063091306","display_name":"Rengao Qiu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rengao Qiu","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6477,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.95258083,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"284","last_page":"288"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot-path-planning","display_name":"mobile robot path planning","score":0.9440000057220459},{"id":"https://openalex.org/keywords/a-algorithm","display_name":"A* algorithm","score":0.8360000252723694},{"id":"https://openalex.org/keywords/timed-elastic-band","display_name":"Timed Elastic Band","score":0.9890000224113464},{"id":"https://openalex.org/keywords/path-smoothing","display_name":"path smoothing","score":0.7900000214576721},{"id":"https://openalex.org/keywords/nonholonomic-constraints","display_name":"nonholonomic constraints","score":0.7950000166893005},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.7879999876022339},{"id":"https://openalex.org/keywords/hybrid-path-planning","display_name":"hybrid path planning","score":0.49399998784065247}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8225666284561157},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7534482479095459},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6698768734931946},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6447896957397461},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6164076328277588},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6143358945846558},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.540336012840271},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5178802013397217},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4902680218219757},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.48042869567871094},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.47575873136520386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19079279899597168},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1810879111289978},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.11861929297447205},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcae53607.2021.9638900","doi":"https://doi.org/10.1109/rcae53607.2021.9638900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcae53607.2021.9638900","pdf_url":null,"source":{"id":"https://openalex.org/S7407088727","display_name":"International Conference on Robotics, Control and Automation Engineering (RCAE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th International Conference on Robotics, Control and Automation Engineering (RCAE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320317992","display_name":"Experiment","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1587371456","https://openalex.org/W2058715873","https://openalex.org/W2115200209","https://openalex.org/W2153054365","https://openalex.org/W2212786010","https://openalex.org/W2331850012","https://openalex.org/W2549984756","https://openalex.org/W2567246947","https://openalex.org/W2622506082","https://openalex.org/W2885372124","https://openalex.org/W2920864394","https://openalex.org/W2963928483","https://openalex.org/W3152103447","https://openalex.org/W3216399075"],"related_works":["https://openalex.org/W4387275002","https://openalex.org/W4405319954","https://openalex.org/W4402353566","https://openalex.org/W4317383425","https://openalex.org/W4412985569","https://openalex.org/W4412985753","https://openalex.org/W4312526866","https://openalex.org/W4407832448","https://openalex.org/W4406208604","https://openalex.org/W4409606485"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,48],"hybrid":[4],"algorithm":[5,41,73],"combining":[6,108],"the":[7,11,17,23,35,38,54,59,70,82,92,97,109,114,126,131,138,146,149],"improved":[8,71],"A*":[9,72],"algorithm,":[10],"minimum":[12,83],"snap":[13,84],"trajectory":[14,85],"generation,":[15],"and":[16,51,69,95,113,129],"timed":[18,110],"elastic":[19,111],"band,":[20],"to":[21,52,65,76,89,124,144],"solve":[22],"problem":[24],"of":[25,37,56,134,148],"mobile":[26,122,135],"robot":[27],"path":[28,39,57,93,105,116,159],"planning":[29,40,106,117,160],"in":[30,47],"complex":[31],"environments.":[32],"To":[33],"improve":[34,53],"efficiency":[36],"passing":[42],"through":[43],"multiple":[44],"target":[45,60],"points":[46],"single":[49],"run,":[50],"flexibility":[55],"smoothing,":[58],"cost":[61],"function":[62],"is":[63,74,87,119],"used":[64,75,88],"prioritize":[66],"all":[67],"targets,":[68],"plan":[77],"an":[78,103],"optimal":[79],"path.":[80],"Meanwhile,":[81],"generation":[86],"effectively":[90],"shorten":[91],"length":[94],"reduce":[96],"total":[98],"turning":[99],"angle.":[100],"In":[101],"addition,":[102],"online":[104],"method":[107],"band":[112],"global":[115],"information":[118],"proposed":[120,150],"for":[121],"robots":[123],"avoid":[125],"local":[127],"obstacles":[128],"meet":[130],"non-holonomic":[132],"constraints":[133],"robots.":[136],"Finally,":[137],"simulation":[139],"experiments":[140],"are":[141],"carried":[142],"out":[143],"evaluate":[145],"effectiveness":[147],"method.":[151],"The":[152],"results":[153],"show":[154],"that":[155],"it":[156],"can":[157],"achieve":[158],"more":[161],"effectively.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2021-12-31T00:00:00"}