{"id":"https://openalex.org/W7225316602","doi":"https://doi.org/10.1017/s0263574726104123","title":"Research on path planning for four-wheel independent drive mobile robots based on minimum turning radius hybrid mode","display_name":"Research on path planning for four-wheel independent drive mobile robots based on minimum turning radius hybrid mode","publication_year":2026,"publication_date":"2026-11-05","ids":{"openalex":"https://openalex.org/W7225316602","doi":"https://doi.org/10.1017/s0263574726104123"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574726104123","doi":"https://doi.org/10.1017/s0263574726104123","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574726104123","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1"],"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"volume":null,"type":"article","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/A5151894906","display_name":"Qilin Liu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qilin Liu","raw_affiliation_strings":["Hohai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hohai University","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041096372","display_name":"Xiaobin Xu","orcid":"https://orcid.org/0000-0001-6023-1984","observed_orcids":["https://orcid.org/0000-0001-6023-1984","https://orcid.org/0000-0002-8676-0195"]},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaobin Xu","raw_affiliation_strings":["Hohai University"],"raw_orcid":"https://orcid.org/0000-0001-6023-1984","affiliations":[{"raw_affiliation_string":"Hohai University","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073527553","display_name":"Weiran Li","orcid":"https://orcid.org/0000-0003-3987-9166","observed_orcids":["https://orcid.org/0000-0003-3987-9166"]},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiran Li","raw_affiliation_strings":["Hohai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hohai University","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160762070","display_name":"Jian Cui","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jian Cui","raw_affiliation_strings":["China Construction Third Engineering Bureau Group Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Construction Third Engineering Bureau Group Co., Ltd","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111170742","display_name":"Qingqing Kang","orcid":"https://orcid.org/0009-0005-9746-3603","observed_orcids":["https://orcid.org/0009-0005-9746-3603"]},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingqing Kang","raw_affiliation_strings":["Hohai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hohai University","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160922958","display_name":"Jian Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["Yangzhou University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yangzhou University","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160757328","display_name":"Peng Yang","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng Yang","raw_affiliation_strings":["China Construction Third Engineering Bureau Group Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Construction Third Engineering Bureau Group Co., Ltd","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102242482","display_name":"Zhipeng Cui","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhipeng Cui","raw_affiliation_strings":["China Construction Third Engineering Bureau Group Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Construction Third Engineering Bureau Group Co., Ltd","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041096372"],"corresponding_institution_ids":["https://openalex.org/I163340411"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"22"},"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":9.999999747378752e-05,"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/path-planning","display_name":"path planning","score":0.6880000233650208},{"id":"https://openalex.org/keywords/informed-rrt","display_name":"informed RRT*","score":0.8080000281333923},{"id":"https://openalex.org/keywords/rrt-connect","display_name":"RRT-Connect","score":0.9950000047683716},{"id":"https://openalex.org/keywords/signed-distance-function","display_name":"signed distance function","score":0.609000027179718},{"id":"https://openalex.org/keywords/obstacle-representation","display_name":"obstacle representation","score":0.6039999723434448},{"id":"https://openalex.org/keywords/ackermann-steering","display_name":"Ackermann steering","score":0.847000002861023},{"id":"https://openalex.org/keywords/velocity-profiles","display_name":"velocity profiles","score":0.7429999709129333},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"energy consumption","score":0.6230000257492065}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7566999793052673},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6194999814033508},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5873000025749207},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.566100001335144},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5612999796867371},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.560699999332428},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5443000197410583},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5180000066757202},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.5163999795913696},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5030999779701233},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4332999885082245},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3921999931335449},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.39079999923706055},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3887999951839447},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.38679999113082886},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3862000107765198},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.334199994802475},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3237000107765198},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.31790000200271606},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3037000000476837},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2969000041484833},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.2833000123500824},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27880001068115234},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2754000127315521},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.26809999346733093},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.25850000977516174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574726104123","doi":"https://doi.org/10.1017/s0263574726104123","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574726104123","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1"],"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7207000255584717,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"},{"score":0.47999998927116394,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1976930960","https://openalex.org/W1996183429","https://openalex.org/W2108936237","https://openalex.org/W2331965471","https://openalex.org/W2561820407","https://openalex.org/W2565804287","https://openalex.org/W3083089729","https://openalex.org/W3163101257","https://openalex.org/W3181323247","https://openalex.org/W3192902877","https://openalex.org/W3203684781","https://openalex.org/W4311469613","https://openalex.org/W4321483841","https://openalex.org/W4367182991","https://openalex.org/W4402608346","https://openalex.org/W4403277676","https://openalex.org/W4405905196","https://openalex.org/W4408696620","https://openalex.org/W4410204294","https://openalex.org/W4410614009","https://openalex.org/W4411230389","https://openalex.org/W4412170732","https://openalex.org/W4416979961"],"related_works":["https://openalex.org/W4409939140","https://openalex.org/W7213295407","https://openalex.org/W7163663009","https://openalex.org/W6902745494","https://openalex.org/W4405410437","https://openalex.org/W2154021308","https://openalex.org/W4230748836","https://openalex.org/W7204140565","https://openalex.org/W4417040253","https://openalex.org/W4405166110"],"abstract_inverted_index":{"Abstract":[0],"Robotic":[1],"systems":[2],"are":[3,87,180],"increasingly":[4],"integrated":[5],"across":[6],"various":[7],"sectors,":[8],"from":[9,175],"manufacturing":[10],"to":[11,64,97,112,149],"logistics,":[12],"yet":[13],"robot":[14,194],"navigation":[15,187],"in":[16,156],"construction":[17,157],"environments":[18],"remains":[19],"challenged":[20],"by":[21],"issues":[22],"such":[23],"as":[24],"safety":[25],"concerns,":[26],"high":[27],"energy":[28,205],"consumption,":[29,206],"and":[30,67,79,100,153,168,183,203,210],"suboptimal":[31],"operational":[32],"efficiency.":[33],"To":[34],"address":[35],"these":[36,196],"challenges,":[37],"this":[38,109],"study":[39],"introduces":[40],"a":[41,50,114],"global":[42],"path-planning":[43],"framework":[44,58],"for":[45,75],"mobile":[46],"robots":[47],"based":[48],"on":[49],"four-wheel":[51],"four-steering":[52],"(4W4S)":[53],"kinematic":[54],"model.":[55],"The":[56,105,177],"proposed":[57,164],"combines":[59],"Informed-RRT":[60],"*":[61],"with":[62,185,199],"RRT-Connect":[63],"accelerate":[65],"exploration":[66],"employs":[68],"an":[69,90],"Euclidean":[70],"Signed":[71],"Distance":[72],"Field":[73],"map":[74],"efficient":[76],"obstacle":[77,95],"representation":[78],"collision":[80],"checking.":[81],"After":[82],"path":[83,116,154],"generation,":[84],"redundant":[85],"waypoints":[86],"removed":[88],"using":[89],"enhanced":[91,208],"Douglas\u2013Peucker":[92],"algorithm,":[93],"incorporating":[94],"detection":[96],"boost":[98],"efficiency":[99,209],"eliminate":[101],"manual":[102],"threshold":[103],"tuning.":[104],"key":[106],"contribution":[107],"of":[108],"work":[110],"is":[111,139],"propose":[113],"4W4S-specific":[115],"optimization":[117,144],"strategy":[118],"that":[119,162],"transforms":[120],"sampling-based":[121],"paths":[122,170,198],"into":[123],"straight\u2013arc":[124],"connections":[125],"satisfying":[126],"the":[127,146,163,192],"minimum":[128],"turning-radius":[129],"constraint,":[130],"while":[131,171],"allowing":[132],"zero-turn":[133],"motion":[134],"when":[135],"no":[136],"Ackermann-feasible":[137],"connection":[138],"available.":[140],"Finally,":[141],"polynomial":[142],"trajectory":[143],"fine-tunes":[145],"velocity":[147,201],"profile":[148],"guarantee":[150],"dynamic":[151],"feasibility":[152],"smoothness":[155],"environments.":[158],"Algorithm":[159],"comparisons":[160],"show":[161],"planner":[165],"generates":[166],"compact":[167],"smooth":[169],"maintaining":[172],"sufficient":[173],"clearance":[174],"obstacles.":[176],"resulted":[178],"trajectories":[179],"more":[181],"concise":[182],"consistent":[184],"human":[186],"behavior.":[188],"In":[189],"real-world":[190],"tests,":[191],"4W4S":[193],"executes":[195],"optimized":[197],"reduced":[200],"fluctuations":[202],"lower":[204],"demonstrating":[207],"reliability.":[211]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-11-06T00:00:00"}