{"id":"https://openalex.org/W4205962758","doi":"https://doi.org/10.1007/s40747-021-00628-y","title":"Path planning of a manipulator based on an improved P_RRT* algorithm","display_name":"Path planning of a manipulator based on an improved P_RRT* algorithm","publication_year":2022,"publication_date":"2022-01-21","ids":{"openalex":"https://openalex.org/W4205962758","doi":"https://doi.org/10.1007/s40747-021-00628-y","pmid":"https://pubmed.ncbi.nlm.nih.gov/35079563"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-021-00628-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00628-y","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00628-y.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00628-y.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041148021","display_name":"Junhui Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I178232147","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916","country_code":"CN","type":"education","lineage":["https://openalex.org/I178232147"]},{"id":"https://openalex.org/I4210087731","display_name":"Guizhou Education University","ror":"https://ror.org/002x6f380","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210087731"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junhui Yi","raw_affiliation_strings":["Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","institution_ids":["https://openalex.org/I178232147","https://openalex.org/I4210087731"]},{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China","institution_ids":["https://openalex.org/I178232147"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000519928","display_name":"Qingni Yuan","orcid":"https://orcid.org/0000-0001-6747-7864"},"institutions":[{"id":"https://openalex.org/I178232147","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916","country_code":"CN","type":"education","lineage":["https://openalex.org/I178232147"]},{"id":"https://openalex.org/I4210087731","display_name":"Guizhou Education University","ror":"https://ror.org/002x6f380","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210087731"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingni Yuan","raw_affiliation_strings":["Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6747-7864","affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","institution_ids":["https://openalex.org/I178232147","https://openalex.org/I4210087731"]},{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China","institution_ids":["https://openalex.org/I178232147"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001237037","display_name":"Ruitong Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I178232147","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916","country_code":"CN","type":"education","lineage":["https://openalex.org/I178232147"]},{"id":"https://openalex.org/I4210087731","display_name":"Guizhou Education University","ror":"https://ror.org/002x6f380","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210087731"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruitong Sun","raw_affiliation_strings":["Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","institution_ids":["https://openalex.org/I178232147","https://openalex.org/I4210087731"]},{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China","institution_ids":["https://openalex.org/I178232147"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037909270","display_name":"Huan Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I178232147","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916","country_code":"CN","type":"education","lineage":["https://openalex.org/I178232147"]},{"id":"https://openalex.org/I4210087731","display_name":"Guizhou Education University","ror":"https://ror.org/002x6f380","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210087731"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Bai","raw_affiliation_strings":["Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou China","institution_ids":["https://openalex.org/I178232147","https://openalex.org/I4210087731"]},{"raw_affiliation_string":"Key Laboratory of Modern Manufacturing Technology, Ministry of Education, West Campus, Guizhou University, Huaxi District, Guiyang, Guizhou, China","institution_ids":["https://openalex.org/I178232147"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041148021"],"corresponding_institution_ids":["https://openalex.org/I178232147","https://openalex.org/I4210087731"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":6.3266,"has_fulltext":true,"cited_by_count":64,"citation_normalized_percentile":{"value":0.97562936,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"8","issue":"3","first_page":"2227","last_page":"2245"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973999857902527,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computational-intelligence","display_name":"Computational intelligence","score":0.7582787275314331},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6351362466812134},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5767403244972229},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5576255917549133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5092705488204956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38444194197654724},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38296931982040405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09048360586166382}],"concepts":[{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.7582787275314331},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6351362466812134},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5767403244972229},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5576255917549133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5092705488204956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38444194197654724},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38296931982040405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09048360586166382},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s40747-021-00628-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00628-y","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00628-y.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},{"id":"pmid:35079563","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35079563","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & intelligent systems","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8776557","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8776557","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex Intell Systems","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1007/s40747-021-00628-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00628-y","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00628-y.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5699999928474426}],"awards":[{"id":"https://openalex.org/G167058674","display_name":null,"funder_award_id":"51865004","funder_id":"https://openalex.org/F4320315254","funder_display_name":"Innovative Research Group Project of the National Natural Science Foundation of China"},{"id":"https://openalex.org/G6461517238","display_name":null,"funder_award_id":"51865004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320315254","display_name":"Innovative Research Group Project of the National Natural Science Foundation of China","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321927","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916"},{"id":"https://openalex.org/F4320322272","display_name":"Guizhou Science and Technology Department","ror":"https://ror.org/00kwnh405"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4205962758.pdf","grobid_xml":"https://content.openalex.org/works/W4205962758.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2142156433","https://openalex.org/W2211552581","https://openalex.org/W2530312297","https://openalex.org/W2596795616","https://openalex.org/W2765140685","https://openalex.org/W2768361032","https://openalex.org/W2788235625","https://openalex.org/W2789696912","https://openalex.org/W2790890409","https://openalex.org/W2793092401","https://openalex.org/W2793432429","https://openalex.org/W2794029453","https://openalex.org/W2796419292","https://openalex.org/W2899575514","https://openalex.org/W2909688514","https://openalex.org/W2962910458","https://openalex.org/W2963678509","https://openalex.org/W2972565985","https://openalex.org/W2996378039","https://openalex.org/W3013007370","https://openalex.org/W3016164434","https://openalex.org/W3034726893","https://openalex.org/W3098856973","https://openalex.org/W3115481033","https://openalex.org/W3130506077","https://openalex.org/W3135664767","https://openalex.org/W3136741165","https://openalex.org/W3169053299"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W4289260319","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Aiming":[0],"to":[1,45,86,108,153,162,176,188,200],"build":[2],"upon":[3],"the":[4,13,47,75,82,87,92,98,110,114,120,125,129,139,143,149,159,163,170,182,185,190,193,202,207,212,215,225,239,244],"slow":[5],"convergence":[6],"speed":[7],"and":[8,91,96,124,148,169,180,205,224,230,241],"low":[9],"search":[10,111],"efficiency":[11,112],"of":[12,100,113,131,142,192,243],"potential":[14,67],"function-based":[15],"rapidly":[16],"exploring":[17],"random":[18,61,88,132],"tree":[19],"star":[20],"(RRT*)":[21],"algorithm":[22,37,218],"(P_RRT*),":[23],"this":[24],"paper":[25],"proposes":[26],"a":[27,60,66,72,135,155],"path":[28,48,150,157,187,204],"planning":[29,49,209],"method":[30,57,63],"for":[31,51,211],"manipulators":[32,52],"with":[33,232],"an":[34],"improved":[35,40,216,245],"P_RRT*":[36,217],"(defined":[38],"as":[39],"P_RRT*),":[41],"which":[42],"is":[43,79,146,151,198,219],"used":[44,107,175,199],"solve":[46],"problem":[50],"in":[53,97,134,222],"three-dimensional":[54],"space.":[55],"This":[56],"first":[58,117],"adopts":[59,119,128],"sampling":[62,89,133],"based":[64,70],"on":[65,71,184],"function.":[68],"Second,":[69],"probability":[73],"value,":[74],"nearest":[76,83],"neighbour":[77],"node":[78,141,145,167],"selected":[80],"by":[81],"Euclidean":[84],"distance":[85],"point":[90,161],"minimum":[93],"cost":[94],"function,":[95],"expansion":[99,104,118,122,127],"new":[101,144],"nodes,":[102],"twice":[103],"methods":[105],"are":[106,174],"accelerate":[109],"algorithm.":[115,246],"The":[116,195,235],"goal-biased":[121],"strategy,":[123],"second":[126],"strategy":[130],"rectangular":[136],"area.":[137],"Then,":[138],"parent":[140],"reselected,":[147],"rerouted":[152],"obtain":[154,206],"clear":[156],"from":[158],"initial":[160],"target":[164],"point.":[165],"Redundant":[166],"deletion":[168],"maximum":[171],"curvature":[172,183],"constraint":[173],"remove":[177],"redundant":[178],"nodes":[179],"minimize":[181],"generated":[186],"reduce":[189],"tortuosity":[191],"path.":[194],"Bezier":[196],"curve":[197,210],"fit":[201],"processed":[203],"trajectory":[208],"manipulator.":[213],"Finally,":[214],"verified":[220],"experimentally":[221],"Python":[223],"Robot":[226],"Operating":[227],"System":[228],"(ROS)":[229],"compared":[231],"other":[233],"algorithms.":[234],"experimental":[236],"results":[237],"verify":[238],"effectiveness":[240],"superiority":[242]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":4}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}