{"id":"https://openalex.org/W4417040253","doi":"https://doi.org/10.21203/rs.3.rs-7920938/v1","title":"Fusion of Improved A* Algorithm and Reinforcement Learning for Path Planning of Construction Transport Robots","display_name":"Fusion of Improved A* Algorithm and Reinforcement Learning for Path Planning of Construction Transport Robots","publication_year":2025,"publication_date":"2025-12-05","ids":{"openalex":"https://openalex.org/W4417040253","doi":"https://doi.org/10.21203/rs.3.rs-7920938/v1"},"language":"en","primary_location":{"id":"doi:10.21203/rs.3.rs-7920938/v1","doi":"https://doi.org/10.21203/rs.3.rs-7920938/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-7920938/v1","pdf_url":"https://www.researchsquare.com/article/rs-7920938/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","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","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"volume":null,"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.researchsquare.com/article/rs-7920938/latest.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Daixi Guo","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I176808543","display_name":"Liaoning Technical University","ror":"https://ror.org/01n2bd587","country_code":"CN","type":"education","lineage":["https://openalex.org/I176808543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daixi Guo","raw_affiliation_strings":["Liaoning Technical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Liaoning Technical University","institution_ids":["https://openalex.org/I176808543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025581121","display_name":"Hang Hubert Yin","orcid":"https://orcid.org/0000-0002-9762-4818","observed_orcids":["https://orcid.org/0000-0002-9762-4818"]},"institutions":[{"id":"https://openalex.org/I176808543","display_name":"Liaoning Technical University","ror":"https://ror.org/01n2bd587","country_code":"CN","type":"education","lineage":["https://openalex.org/I176808543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Yin","raw_affiliation_strings":["Liaoning Technical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Liaoning Technical University","institution_ids":["https://openalex.org/I176808543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033403121","display_name":"Shasha Lu","orcid":"https://orcid.org/0000-0002-2995-513X","observed_orcids":["https://orcid.org/0000-0002-2995-513X","https://orcid.org/0000-0002-9957-1860"]},"institutions":[{"id":"https://openalex.org/I176808543","display_name":"Liaoning Technical University","ror":"https://ror.org/01n2bd587","country_code":"CN","type":"education","lineage":["https://openalex.org/I176808543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shasha Lu","raw_affiliation_strings":["Liaoning Technical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Liaoning Technical University","institution_ids":["https://openalex.org/I176808543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001079640","display_name":"Jiepeng Liu","orcid":"https://orcid.org/0000-0002-4485-6420","observed_orcids":["https://orcid.org/0000-0002-4485-6420"]},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiepeng Liu","raw_affiliation_strings":["Chongqing University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043493910","display_name":"Xinyi Guan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I176808543","display_name":"Liaoning Technical University","ror":"https://ror.org/01n2bd587","country_code":"CN","type":"education","lineage":["https://openalex.org/I176808543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyi Guan","raw_affiliation_strings":["Liaoning Technical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Liaoning Technical University","institution_ids":["https://openalex.org/I176808543"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021572840","display_name":"Runbo Ma","orcid":"https://orcid.org/0000-0001-7311-6213","observed_orcids":["https://orcid.org/0000-0001-7311-6213"]},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runbo Ma","raw_affiliation_strings":["Northwestern Polytechnical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.0003000000142492354,"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","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":0.9670000076293945},{"id":"https://openalex.org/keywords/improved-a-algorithm","display_name":"improved A* algorithm","score":0.9789999723434448},{"id":"https://openalex.org/keywords/proximal-policy-optimization","display_name":"proximal policy optimization","score":0.9470000267028809},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"reinforcement learning","score":0.8330000042915344},{"id":"https://openalex.org/keywords/dynamic-obstacle-avoidance","display_name":"dynamic obstacle avoidance","score":0.9070000052452087},{"id":"https://openalex.org/keywords/hierarchical-planning","display_name":"hierarchical planning","score":0.6830000281333923},{"id":"https://openalex.org/keywords/local-minima","display_name":"local minima","score":0.8270000219345093},{"id":"https://openalex.org/keywords/intelligent-construction","display_name":"intelligent construction","score":0.7480000257492065}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.808899998664856},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.7156999707221985},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.623199999332428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6001999974250793},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5666999816894531},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.566100001335144},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5515999794006348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.531000018119812},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5275999903678894},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45210000872612},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4081999957561493},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39469999074935913},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.35920000076293945},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.35659998655319214},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.33739998936653137},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3230000138282776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29339998960494995},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28139999508857727},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25769999623298645}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.21203/rs.3.rs-7920938/v1","doi":"https://doi.org/10.21203/rs.3.rs-7920938/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-7920938/v1","pdf_url":"https://www.researchsquare.com/article/rs-7920938/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","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","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"}],"best_oa_location":{"id":"doi:10.21203/rs.3.rs-7920938/v1","doi":"https://doi.org/10.21203/rs.3.rs-7920938/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-7920938/v1","pdf_url":"https://www.researchsquare.com/article/rs-7920938/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","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","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.8970999717712402,"display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417040253.pdf","grobid_xml":"https://content.openalex.org/works/W4417040253.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W2596152647","https://openalex.org/W2980932827","https://openalex.org/W3003981068","https://openalex.org/W3135716286","https://openalex.org/W3217542308","https://openalex.org/W4206141942","https://openalex.org/W4309002532","https://openalex.org/W4313472201","https://openalex.org/W4378909156","https://openalex.org/W4382862956","https://openalex.org/W4383891636","https://openalex.org/W4392449753","https://openalex.org/W4398138850","https://openalex.org/W4401991753","https://openalex.org/W4402850204","https://openalex.org/W4404711006","https://openalex.org/W4406243811","https://openalex.org/W4407007651"],"related_works":["https://openalex.org/W6902745494","https://openalex.org/W4411152912","https://openalex.org/W4402353543","https://openalex.org/W7155407419","https://openalex.org/W4415646780","https://openalex.org/W4409939140","https://openalex.org/W4386072062","https://openalex.org/W4403060042","https://openalex.org/W7140029431","https://openalex.org/W7213295407"],"abstract_inverted_index":{"Abstract":[0],"Path":[1],"planning":[2,65,101,131],"is":[3],"crucial":[4],"for":[5,63,70,133],"ensuring":[6],"the":[7,22,34,82],"safe":[8],"and":[9,33,66,106,121,128],"efficient":[10],"operation":[11],"of":[12,24],"Material":[13],"Transport":[14],"Robots":[15],"(MTRs)":[16],"in":[17,90,111],"construction":[18],"industrialization.":[19],"To":[20],"overcome":[21],"limitations":[23],"traditional":[25],"methods,":[26],"such":[27],"as":[28],"poor":[29],"dynamic":[30,91],"obstacle":[31],"avoidance":[32],"global-local":[35],"decision-making":[36],"mismatch,":[37],"this":[38],"study":[39,116],"proposes":[40],"a":[41,67,75,86,126],"collaborative":[42],"optimization":[43],"framework":[44,57],"that":[45,81],"integrates":[46],"an":[47,59],"improved":[48],"A*":[49,61],"algorithm":[50,62],"with":[51],"Proximal":[52],"Policy":[53],"Optimization":[54],"(PPO).":[55],"The":[56],"employs":[58],"enhanced":[60],"global":[64],"PPO-based":[68],"mechanism":[69],"local":[71,122],"decision-making,":[72],"fused":[73],"via":[74],"hierarchical":[76],"architecture.":[77],"Simulation":[78],"results":[79],"demonstrate":[80],"proposed":[83],"method":[84],"achieves":[85],"100%":[87],"success":[88],"rate":[89],"environments,":[92],"where":[93],"all":[94],"benchmark":[95],"methods":[96],"fail.":[97],"Furthermore,":[98],"it":[99],"reduces":[100],"time":[102],"by":[103],"approximately":[104],"78.5%":[105],"significantly":[107],"improves":[108],"path":[109,119,130],"smoothness":[110],"static":[112],"complex":[113],"scenarios.":[114],"This":[115],"effectively":[117],"mitigates":[118],"oscillation":[120],"minima":[123],"issues,":[124],"providing":[125],"robust":[127],"reliable":[129],"solution":[132],"intelligent":[134],"construction.":[135]},"counts_by_year":[],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2025-12-05T00:00:00"}
