{"id":"https://openalex.org/W4408564112","doi":"https://doi.org/10.1109/jsen.2025.3550540","title":"Free-Space Skeleton Extraction-Based Dynamic Voronoi-A* Path Planning Algorithm","display_name":"Free-Space Skeleton Extraction-Based Dynamic Voronoi-A* Path Planning Algorithm","publication_year":2025,"publication_date":"2025-03-18","ids":{"openalex":"https://openalex.org/W4408564112","doi":"https://doi.org/10.1109/jsen.2025.3550540"},"language":"en","primary_location":{"id":"doi:10.1109/jsen.2025.3550540","doi":"https://doi.org/10.1109/jsen.2025.3550540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2025.3550540","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Sensors Journal","raw_type":"journal-article"},"volume":null,"type":"article","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/A5070747679","display_name":"Yunfei Li","orcid":"https://orcid.org/0000-0002-6125-1781","observed_orcids":["https://orcid.org/0000-0002-6125-1781"]},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfei Li","raw_affiliation_strings":["School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","School of Mechanical Engineering, Wuhan University of Science and Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-6125-1781","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102302053","display_name":"Wan-Zhen Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanzhen Yang","raw_affiliation_strings":["School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","School of Mechanical Engineering, Wuhan University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089819411","display_name":"Lin Jiang","orcid":"https://orcid.org/0000-0001-8246-9803","observed_orcids":["https://orcid.org/0000-0001-8246-9803"]},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Jiang","raw_affiliation_strings":["School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","School of Mechanical Engineering, Wuhan University of Science and Technology, China"],"raw_orcid":"https://orcid.org/0000-0001-8246-9803","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068251401","display_name":"Bo Tang","orcid":"https://orcid.org/0000-0001-5084-7419","observed_orcids":["https://orcid.org/0000-0001-5084-7419"]},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Tang","raw_affiliation_strings":["School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","School of Mechanical Engineering, Wuhan University of Science and Technology, China"],"raw_orcid":"https://orcid.org/0000-0001-5084-7419","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004902604","display_name":"Jianyang Zhu","orcid":"https://orcid.org/0000-0002-2116-7737","observed_orcids":["https://orcid.org/0000-0002-2116-7737"]},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianyang Zhu","raw_affiliation_strings":["School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","School of Mechanical Engineering, Wuhan University of Science and Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-2116-7737","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"School of Mechanical Engineering, Wuhan University of Science and Technology, China","institution_ids":["https://openalex.org/I43922553"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43922553"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.362,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51440931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":"25","issue":"10","first_page":"17447","last_page":"17455"},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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"}}],"keywords":[{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.746999979019165},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi tessellation","score":0.8220000267028809},{"id":"https://openalex.org/keywords/a-algorithm","display_name":"A* algorithm","score":0.9649999737739563},{"id":"https://openalex.org/keywords/dynamic-environments","display_name":"dynamic environments","score":0.9079999923706055},{"id":"https://openalex.org/keywords/morphological-operations","display_name":"morphological operations","score":0.8289999961853027},{"id":"https://openalex.org/keywords/path-redundancy","display_name":"path redundancy","score":0.656000018119812},{"id":"https://openalex.org/keywords/real-time-robot-navigation","display_name":"real-time robot navigation","score":0.5550000071525574}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.8820159435272217},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6914157867431641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662867426872253},{"id":"https://openalex.org/C18969341","wikidata":"https://www.wikidata.org/wiki/Q1169129","display_name":"Skeleton (computer programming)","level":2,"score":0.534137487411499},{"id":"https://openalex.org/C4725764","wikidata":"https://www.wikidata.org/wiki/Q844704","display_name":"Extraction (chemistry)","level":2,"score":0.4911975562572479},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48875975608825684},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4763774573802948},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.436681866645813},{"id":"https://openalex.org/C205672865","wikidata":"https://www.wikidata.org/wiki/Q5062961","display_name":"Centroidal Voronoi tessellation","level":3,"score":0.4152563512325287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28019630908966064},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25362297892570496},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12375545501708984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10754266381263733},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsen.2025.3550540","doi":"https://doi.org/10.1109/jsen.2025.3550540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2025.3550540","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Sensors Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"display_name":"Sustainable cities and communities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G2651652186","display_name":"\u57fa\u4e8e\u89c6\u89c9\u6ce8\u610f\u673a\u5236\u548c\u6df1\u5ea6\u5b66\u4e60\u7684\u591a\u76f8\u673a\u591a\u6a21\u6001\u591a\u7c7b\u578b\u94a2\u677f\u8868\u9762\u5fae\u5c0f\u7f3a\u9677\u68c0\u6d4b\u4e0e\u8bc6\u522b","funder_award_id":"51874217","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G754896034","display_name":null,"funder_award_id":"2019YFB1310000","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1481356306","https://openalex.org/W1582102377","https://openalex.org/W1967005434","https://openalex.org/W1969483458","https://openalex.org/W1971639106","https://openalex.org/W2092539048","https://openalex.org/W2105787045","https://openalex.org/W2150500908","https://openalex.org/W2164696537","https://openalex.org/W2278691387","https://openalex.org/W2435245948","https://openalex.org/W2575331287","https://openalex.org/W2799357608","https://openalex.org/W2921463503","https://openalex.org/W3084957793","https://openalex.org/W3117037876","https://openalex.org/W3193854932","https://openalex.org/W4237949515","https://openalex.org/W4293193133","https://openalex.org/W4366957201","https://openalex.org/W4388755158","https://openalex.org/W4395017655","https://openalex.org/W4401880180"],"related_works":["https://openalex.org/W2059217232","https://openalex.org/W1992160534","https://openalex.org/W2371724110","https://openalex.org/W2885312149","https://openalex.org/W1930867958","https://openalex.org/W2053576657","https://openalex.org/W4206423751","https://openalex.org/W2041214247","https://openalex.org/W1995318580","https://openalex.org/W2133344964"],"abstract_inverted_index":{"To":[0],"address":[1,98],"the":[2,17,25,45,93,99,117,129,134],"issues":[3,100],"of":[4],"poor":[5],"real-time":[6],"performance,":[7],"long":[8],"skeleton":[9,42,65,73,78,85],"extraction":[10,66,74],"times,":[11],"redundant":[12],"and":[13,16,52,76,106,112],"convoluted":[14],"paths,":[15],"inability":[18],"to":[19,70,83,97,102,128],"handle":[20],"dynamic":[21,34,103],"environmental":[22,104],"changes":[23,105],"in":[24],"existing":[26,130],"Voronoi-based":[27],"path":[28,107,122,135],"planning":[29,37,123],"algorithms,":[30],"we":[31],"propose":[32],"a":[33,53,77],"Voronoi-A${}^{\\ast":[35],"}$path":[36],"algorithm":[38,80,119],"based":[39],"on":[40],"free-space":[41,64],"extraction.":[43],"First,":[44],"grid":[46],"map":[47,55],"is":[48,56,68,81],"optimized":[49],"through":[50],"preprocessing,":[51],"binary":[54],"obtained":[57],"using":[58],"morphological":[59],"operations.":[60],"Next,":[61],"an":[62],"improved":[63],"mechanism":[67],"introduced":[69],"significantly":[71],"reduce":[72],"time,":[75],"re-refinement":[79],"proposed":[82,118],"enhance":[84],"accuracy.":[86],"Then,":[87],"Voronoi":[88],"diagrams":[89],"are":[90],"integrated":[91],"into":[92],"A${}^{\\ast":[94],"}$evaluation":[95],"function":[96],"related":[101],"redundancy.":[108],"Finally,":[109],"extensive":[110],"simulations":[111],"real-world":[113],"experiments":[114],"demonstrate":[115],"that":[116],"reduces":[120],"global":[121],"time":[124],"by":[125],"74.16%":[126],"compared":[127],"methods,":[131],"effectively":[132],"solving":[133],"redundancy":[136],"problem.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2025-03-19T00:00:00"}