{"id":"https://openalex.org/W4410479070","doi":"https://doi.org/10.1002/rob.22594","title":"Design and Analysis of New Obstacle Avoidance Scheme With Dimensionality Reduction for Motion Planning of Redundant Robot Manipulators","display_name":"Design and Analysis of New Obstacle Avoidance Scheme With Dimensionality Reduction for Motion Planning of Redundant Robot Manipulators","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4410479070","doi":"https://doi.org/10.1002/rob.22594"},"language":"en","primary_location":{"id":"doi:10.1002/rob.22594","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.22594","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"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/A5101794545","display_name":"Dongsheng Guo","orcid":"https://orcid.org/0000-0002-1700-1996"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dongsheng Guo","raw_affiliation_strings":["School of Information and Communication Engineering Hainan University Haikou Hainan China","School of Information and Communication Engineering Hainan University  Haikou Hainan China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University  Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074499287","display_name":"Qu Li","orcid":"https://orcid.org/0000-0002-4581-8370"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qu Li","raw_affiliation_strings":["School of Information and Communication Engineering Hainan University Haikou Hainan China","School of Information and Communication Engineering Hainan University  Haikou Hainan China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University  Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060714692","display_name":"Naimeng Cang","orcid":"https://orcid.org/0000-0003-2024-3897"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Naimeng Cang","raw_affiliation_strings":["School of Information and Communication Engineering Hainan University Haikou Hainan China","School of Information and Communication Engineering Hainan University  Haikou Hainan China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University  Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112883677","display_name":"Yilin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yilin Yu","raw_affiliation_strings":["School of Information and Communication Engineering Hainan University Haikou Hainan China","School of Information and Communication Engineering Hainan University  Haikou Hainan China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University  Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100419069","display_name":"Weidong Zhang","orcid":"https://orcid.org/0000-0003-1215-9927"},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Zhang","raw_affiliation_strings":["School of Information and Communication Engineering Hainan University Haikou Hainan China","School of Information and Communication Engineering Hainan University  Haikou Hainan China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]},{"raw_affiliation_string":"School of Information and Communication Engineering Hainan University  Haikou Hainan China","institution_ids":["https://openalex.org/I20942203"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["School of Computer Science and Engineering Sun Yat\u2010sen University Guangzhou China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering Sun Yat\u2010sen University Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101794545"],"corresponding_institution_ids":["https://openalex.org/I20942203"],"apc_list":{"value":4430,"currency":"USD","value_usd":4430},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11306107,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":"7","first_page":"3694","last_page":"3704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.788877010345459},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.7045088410377502},{"id":"https://openalex.org/keywords/dimensionality-reduction","display_name":"Dimensionality reduction","score":0.6640479564666748},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.6566079258918762},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.620115339756012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5674125552177429},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5432355403900146},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5072430968284607},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4997241497039795},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4751795828342438},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4235607087612152},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37800315022468567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3296928405761719},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25644809007644653},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19238123297691345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1735895276069641},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12807872891426086}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.788877010345459},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.7045088410377502},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.6640479564666748},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.6566079258918762},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.620115339756012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5674125552177429},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5432355403900146},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5072430968284607},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4997241497039795},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4751795828342438},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4235607087612152},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37800315022468567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3296928405761719},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25644809007644653},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19238123297691345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1735895276069641},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12807872891426086},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.22594","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.22594","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W2023468600","https://openalex.org/W2025939589","https://openalex.org/W2073554986","https://openalex.org/W2106569214","https://openalex.org/W2114872772","https://openalex.org/W2273716998","https://openalex.org/W2444581964","https://openalex.org/W2803632469","https://openalex.org/W3046389955","https://openalex.org/W3093106179","https://openalex.org/W3127430169","https://openalex.org/W3143778447","https://openalex.org/W3160842974","https://openalex.org/W3185099629","https://openalex.org/W3198108247","https://openalex.org/W3210882399","https://openalex.org/W4229066299","https://openalex.org/W4240172577","https://openalex.org/W4288056910","https://openalex.org/W4302304006","https://openalex.org/W4303946170","https://openalex.org/W4322576608","https://openalex.org/W4382568208","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W1995622179","https://openalex.org/W1484111231","https://openalex.org/W4391160746","https://openalex.org/W1552543208","https://openalex.org/W2015961810","https://openalex.org/W2074396517"],"abstract_inverted_index":{"ABSTRACT":[0],"Obstacle":[1],"avoidance":[2],"(OA)":[3],"is":[4,57,78,101,171,181,188],"an":[5,86,98],"important":[6],"issue":[7],"in":[8],"the":[9,34,47,83,90,106,110,121,125,131,136,140,145,157,161,165,191,200,205,210],"motion":[10],"planning":[11],"of":[12,31,36,112,116,127,143,209],"redundant":[13,62,174],"robot":[14,63,68,175,202],"manipulators.":[15,64,176],"Various":[16],"effective":[17],"OA":[18,52,77,132,168],"schemes":[19],"have":[20],"been":[21],"reported,":[22],"but":[23],"they":[24],"may":[25],"suffer":[26],"from":[27,89],"a":[28,50,72,113,178,184],"large":[29,114],"amount":[30],"calculation":[32,84],"for":[33,61,76,85,109,124,148,173],"situation":[35,111,126],"multiple":[37],"obstacles":[38],"and/or":[39],"complex\u2010shaped":[40,128],"obstacles.":[41,129],"In":[42],"this":[43],"paper,":[44],"to":[45,94],"address":[46],"aforementioned":[48],"limitation,":[49],"new":[51,166],"scheme":[53,170,180],"with":[54],"dimensionality":[55],"reduction":[56],"proposed":[58,211],"and":[59,70,119,135,160,196,207],"studied":[60],"Specifically,":[65],"by":[66,104,190],"combining":[67],"kinematics":[69],"geometry,":[71],"typical":[73],"inequality":[74,99,146,158],"criterion":[75,100,147,159],"designed,":[79],"which":[80],"can":[81,151],"reduce":[82],"obstacle":[87,117],"point":[88],"general":[91],"three":[92],"dimensions":[93],"one":[95],"dimension.":[96],"Such":[97,177],"further":[102],"aided":[103],"(1)":[105],"dynamic":[107],"selection":[108],"number":[115],"points,":[118],"(2)":[120],"feature":[122],"extraction":[123],"With":[130],"environment":[133],"optimized":[134],"obstacles'":[137],"dimension":[138],"limited,":[139],"computational":[141],"efficiency":[142],"generating":[144],"specific":[149],"scenarios":[150],"thus":[152],"be":[153],"improved.":[154],"By":[155],"incorporating":[156],"joint":[162],"physical":[163],"constraint,":[164],"dimensionality\u2010reduction":[167],"(DROA)":[169],"developed":[172],"DROA":[179,212],"depicted":[182],"as":[183],"quadratic":[185],"program":[186],"that":[187],"solved":[189],"reinforcement":[192],"learning":[193],"method.":[194],"Simulation":[195],"experiment":[197],"results":[198],"under":[199],"PA10":[201],"manipulator":[203],"verify":[204],"efficacy":[206],"applicability":[208],"scheme.":[213]},"counts_by_year":[],"updated_date":"2025-11-07T23:20:04.922697","created_date":"2025-10-10T00:00:00"}