{"id":"https://openalex.org/W4407253261","doi":"https://doi.org/10.3390/electronics14040648","title":"Improved Informed RRT*: Based on Dynamic Shrinkage Threshold Node Selection Mechanism and Adaptive Goal-Biased Strategy","display_name":"Improved Informed RRT*: Based on Dynamic Shrinkage Threshold Node Selection Mechanism and Adaptive Goal-Biased Strategy","publication_year":2025,"publication_date":"2025-02-07","ids":{"openalex":"https://openalex.org/W4407253261","doi":"https://doi.org/10.3390/electronics14040648"},"language":"en","primary_location":{"id":"doi:10.3390/electronics14040648","doi":"https://doi.org/10.3390/electronics14040648","is_oa":true,"landing_page_url":"https://doi.org/10.3390/electronics14040648","pdf_url":"https://www.mdpi.com/2079-9292/14/4/648/pdf","source":{"id":"https://openalex.org/S4210202905","display_name":"Electronics","issn_l":"2079-9292","issn":["2079-9292"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","norway-1","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Electronics","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2079-9292/14/4/648/pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103201731","display_name":"Suna Zhao","orcid":"https://orcid.org/0000-0002-2066-1186","observed_orcids":["https://orcid.org/0000-0002-2066-1186"]},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Suna Zhao","raw_affiliation_strings":["College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China"],"raw_orcid":"https://orcid.org/0000-0002-2066-1186","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peijun Han","orcid":"https://orcid.org/0009-0009-5797-4870","observed_orcids":["https://orcid.org/0009-0009-5797-4870"]},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peijun Han","raw_affiliation_strings":["College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China"],"raw_orcid":"https://orcid.org/0009-0009-5797-4870","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112303997","display_name":"Zhihua Diao","orcid":"https://orcid.org/0009-0001-1780-043X","observed_orcids":["https://orcid.org/0009-0001-1780-043X"]},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihua Diao","raw_affiliation_strings":["College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039243374","display_name":"Zhendong He","orcid":"https://orcid.org/0000-0003-3169-3113","observed_orcids":["https://orcid.org/0000-0003-3169-3113","https://orcid.org/0009-0007-0647-7001","https://orcid.org/0000-0002-2675-9969"]},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhendong He","raw_affiliation_strings":["College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687809","display_name":"Xingyi Li","orcid":"https://orcid.org/0000-0002-9028-1648","observed_orcids":["https://orcid.org/0000-0002-9028-1648"]},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyi Li","raw_affiliation_strings":["College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081571218","display_name":"Taishan Lou","orcid":"https://orcid.org/0000-0002-0624-6912","observed_orcids":["https://orcid.org/0000-0002-0624-6912"]},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taishan Lou","raw_affiliation_strings":["College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101529447","display_name":"Liying Jiang","orcid":"https://orcid.org/0000-0003-2255-0671","observed_orcids":["https://orcid.org/0000-0003-2255-0671"]},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liying Jiang","raw_affiliation_strings":["College of Electronic Information, Zhengzhou University of Light Industry, Zhengzhou 450000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronic Information, Zhengzhou University of Light Industry, Zhengzhou 450000, China","institution_ids":["https://openalex.org/I23171815"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101529447","https://openalex.org/A5103201731"],"corresponding_institution_ids":["https://openalex.org/I23171815"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2896},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2896},"fwci":1.8037,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84110445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"14","issue":"4","first_page":"648","last_page":"648"},"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/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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/1707","display_name":"Computer Vision and Pattern Recognition"},"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/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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","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/informed-rrt","display_name":"informed RRT*","score":0.9879999756813049},{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.6100000143051147},{"id":"https://openalex.org/keywords/node-selection","display_name":"node selection","score":0.9340000152587891},{"id":"https://openalex.org/keywords/convergence-acceleration","display_name":"convergence acceleration","score":0.6320000290870667},{"id":"https://openalex.org/keywords/sampling-based-motion-planning","display_name":"sampling-based motion planning","score":0.5899999737739563}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6319528222084045},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.6271302700042725},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5616163611412048},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4546416997909546},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3420614004135132},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24008771777153015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14828673005104065},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09068036079406738},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06453245878219604},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/electronics14040648","doi":"https://doi.org/10.3390/electronics14040648","is_oa":true,"landing_page_url":"https://doi.org/10.3390/electronics14040648","pdf_url":"https://www.mdpi.com/2079-9292/14/4/648/pdf","source":{"id":"https://openalex.org/S4210202905","display_name":"Electronics","issn_l":"2079-9292","issn":["2079-9292"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","norway-1","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Electronics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/electronics14040648","doi":"https://doi.org/10.3390/electronics14040648","is_oa":true,"landing_page_url":"https://doi.org/10.3390/electronics14040648","pdf_url":"https://www.mdpi.com/2079-9292/14/4/648/pdf","source":{"id":"https://openalex.org/S4210202905","display_name":"Electronics","issn_l":"2079-9292","issn":["2079-9292"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","norway-1","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Electronics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5378999710083008}],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G6063661149","display_name":null,"funder_award_id":"62003312","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407253261.pdf","grobid_xml":"https://content.openalex.org/works/W4407253261.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1481356306","https://openalex.org/W1804085046","https://openalex.org/W1969483458","https://openalex.org/W1976930960","https://openalex.org/W2143826757","https://openalex.org/W2555827514","https://openalex.org/W2783963507","https://openalex.org/W2809423340","https://openalex.org/W3181323247","https://openalex.org/W3201700785","https://openalex.org/W4200197476","https://openalex.org/W4213415085","https://openalex.org/W4285092328","https://openalex.org/W4313420583","https://openalex.org/W4319601910","https://openalex.org/W4360831358","https://openalex.org/W4366418230","https://openalex.org/W4376104428","https://openalex.org/W4382462245","https://openalex.org/W4388282753","https://openalex.org/W4388776341","https://openalex.org/W4390545893","https://openalex.org/W4390939164","https://openalex.org/W4391957726","https://openalex.org/W4392155099","https://openalex.org/W4392195832","https://openalex.org/W4392878903","https://openalex.org/W4394805038","https://openalex.org/W4396867370","https://openalex.org/W4398188165","https://openalex.org/W4400781210"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"study":[1],"presents":[2],"an":[3,17,83],"improved":[4,123],"Informed":[5,35,131],"RRT*":[6,36],"algorithm":[7,110],"integrating":[8],"a":[9,38],"dynamic":[10,39,49],"shrinkage":[11,40],"threshold":[12],"node":[13,32,42,64],"selection":[14,43,65],"mechanism":[15,44],"with":[16],"adaptive":[18,84],"goal-biased":[19,85],"strategy,":[20],"aimed":[21],"at":[22],"reducing":[23],"computational":[24],"iterations":[25],"and":[26,58,80,140,149],"accelerating":[27],"convergence":[28,81,100],"performance.":[29],"To":[30,76],"resolve":[31],"redundancy":[33],"during":[34],"sampling,":[37],"threshold-based":[41],"is":[45],"developed.":[46],"Through":[47],"the":[48,59,88,92,105,108,118,124,127,134,152],"evaluation":[50],"of":[51,91,107,126,130],"nodal":[52],"distances":[53],"(between":[54],"newly":[55],"generated":[56],"nodes":[57,68],"existing":[60],"tree":[61,94],"structure)":[62],"against":[63],"thresholds,":[66],"redundant":[67],"are":[69],"eliminated":[70],"to":[71],"enhance":[72],"spatial":[73],"exploration":[74,79],"efficiency.":[75],"address":[77],"blind":[78],"delays,":[82],"strategy":[86],"guides":[87],"directional":[89],"expansion":[90],"search":[93],"toward":[95],"target":[96],"regions,":[97],"thereby":[98],"optimizing":[99],"behavior.":[101],"Systematic":[102],"simulations":[103],"demonstrate":[104,116],"effectiveness":[106],"proposed":[109,135],"across":[111],"multiple":[112],"scenarios.":[113],"Comparative":[114],"experiments":[115],"that":[117],"two":[119],"key":[120],"technologies":[121],"significantly":[122],"speed":[125],"initial-path":[128],"generation":[129],"RRT*.":[132],"Moreover,":[133],"method":[136],"shows":[137],"good":[138],"adaptability":[139],"stability":[141],"in":[142,151],"different":[143],"environments,":[144],"which":[145],"proves":[146],"its":[147],"potential":[148],"advantages":[150],"path-planning":[153],"field.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2025-10-10T00:00:00"}
