{"id":"https://openalex.org/W4382462245","doi":"https://doi.org/10.1007/s40747-023-01111-6","title":"FF-RRT*: a sampling-improved path planning algorithm for mobile robots against concave cavity obstacle","display_name":"FF-RRT*: a sampling-improved path planning algorithm for mobile robots against concave cavity obstacle","publication_year":2023,"publication_date":"2023-06-27","ids":{"openalex":"https://openalex.org/W4382462245","doi":"https://doi.org/10.1007/s40747-023-01111-6"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-023-01111-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01111-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01111-6.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"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01111-6.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067940446","display_name":"Jiping Cong","orcid":"https://orcid.org/0000-0002-6789-2045"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiping Cong","raw_affiliation_strings":["Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","Graduate School, Air Force Engineering University, Xi'an, 710051, China"],"affiliations":[{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi'an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003916755","display_name":"Jianbo Hu","orcid":"https://orcid.org/0000-0002-2066-7107"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbo Hu","raw_affiliation_strings":["Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi\u2019an, 710051, China","Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi'an, 710051, China"],"affiliations":[{"raw_affiliation_string":"Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi\u2019an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi'an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055802420","display_name":"Yingyang Wang","orcid":"https://orcid.org/0000-0002-5340-5592"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingyang Wang","raw_affiliation_strings":["Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi\u2019an, 710051, China","Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi'an, 710051, China"],"affiliations":[{"raw_affiliation_string":"Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi\u2019an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi'an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002590299","display_name":"Zi-Hou He","orcid":"https://orcid.org/0000-0001-5675-5873"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihou He","raw_affiliation_strings":["Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","Graduate School, Air Force Engineering University, Xi'an, 710051, China"],"affiliations":[{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi'an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087196783","display_name":"Linxiao Han","orcid":"https://orcid.org/0000-0002-6962-1548"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linxiao Han","raw_affiliation_strings":["Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","Graduate School, Air Force Engineering University, Xi'an, 710051, China"],"affiliations":[{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi'an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024215252","display_name":"Maoyu Su","orcid":"https://orcid.org/0000-0002-0714-7158"},"institutions":[{"id":"https://openalex.org/I4210104252","display_name":"Air Force Engineering University","ror":"https://ror.org/00seraz22","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maoyu Su","raw_affiliation_strings":["Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","Graduate School, Air Force Engineering University, Xi'an, 710051, China"],"affiliations":[{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi\u2019an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]},{"raw_affiliation_string":"Graduate School, Air Force Engineering University, Xi'an, 710051, China","institution_ids":["https://openalex.org/I4210104252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067940446"],"corresponding_institution_ids":["https://openalex.org/I4210104252"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":2.7286,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.92078446,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"7249","last_page":"7267"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9937999844551086,"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/T12288","display_name":"Optimization and Search Problems","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/convergence","display_name":"Convergence (economics)","score":0.6623647212982178},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.647962212562561},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6230422854423523},{"id":"https://openalex.org/keywords/rate-of-convergence","display_name":"Rate of convergence","score":0.6181854605674744},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6007651090621948},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5498148202896118},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5229511857032776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.505172073841095},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4896703064441681},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4894934892654419},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44833168387413025},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3388529121875763},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3272233009338379},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2709029018878937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19779303669929504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1649220585823059},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.09348499774932861},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.05787992477416992}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6623647212982178},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.647962212562561},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6230422854423523},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.6181854605674744},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6007651090621948},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5498148202896118},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5229511857032776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.505172073841095},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4896703064441681},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4894934892654419},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44833168387413025},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3388529121875763},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3272233009338379},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2709029018878937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19779303669929504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1649220585823059},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.09348499774932861},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.05787992477416992},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-023-01111-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01111-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01111-6.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":"pmh:oai:doaj.org/article:4e7046956a724b08b0d8bc9e13f4f91d","is_oa":true,"landing_page_url":"https://doaj.org/article/4e7046956a724b08b0d8bc9e13f4f91d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 9, Iss 6, Pp 7249-7267 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-023-01111-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01111-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01111-6.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","score":0.6000000238418579,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G106946271","display_name":null,"funder_award_id":"62103439","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2082826544","display_name":null,"funder_award_id":"Postdoctoral","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2209044516","display_name":null,"funder_award_id":"62103439","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2210092344","display_name":null,"funder_award_id":"62103439","funder_id":"https://openalex.org/F4320336567","funder_display_name":"Natural Science Basic Research Program of Shaanxi Province"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3843755273","display_name":null,"funder_award_id":"2020M683716","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4764997063","display_name":null,"funder_award_id":"2021JQ-364","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7083939686","display_name":null,"funder_award_id":"2021JQ-364","funder_id":"https://openalex.org/F4320336567","funder_display_name":"Natural Science Basic Research Program of Shaanxi Province"},{"id":"https://openalex.org/G8338012253","display_name":null,"funder_award_id":"2021JQ-364","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G8784860241","display_name":null,"funder_award_id":"2020M683716","funder_id":"https://openalex.org/F4320335443","funder_display_name":"Postdoctoral Research Foundation 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/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320335443","display_name":"Postdoctoral Research Foundation of China","ror":null},{"id":"https://openalex.org/F4320336567","display_name":"Natural Science Basic Research Program of Shaanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4382462245.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1987271685","https://openalex.org/W2076162824","https://openalex.org/W2112271657","https://openalex.org/W2211552581","https://openalex.org/W2602235144","https://openalex.org/W2909688514","https://openalex.org/W2920894487","https://openalex.org/W2981460880","https://openalex.org/W3011646207","https://openalex.org/W3016164434","https://openalex.org/W3034726893","https://openalex.org/W3037146998","https://openalex.org/W3102121895","https://openalex.org/W3111121215","https://openalex.org/W3129584569","https://openalex.org/W3165368361","https://openalex.org/W3165504641","https://openalex.org/W3166352962","https://openalex.org/W3167374964","https://openalex.org/W3181323247","https://openalex.org/W3191142081","https://openalex.org/W3207257540","https://openalex.org/W3209869755","https://openalex.org/W4205460751","https://openalex.org/W4205728814","https://openalex.org/W4225929398","https://openalex.org/W4229046438","https://openalex.org/W4283737832","https://openalex.org/W4308310328","https://openalex.org/W4311530084","https://openalex.org/W4313201697","https://openalex.org/W4313537271"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2394276631","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364"],"abstract_inverted_index":{"Abstract":[0],"The":[1,79,141,202],"slow":[2],"convergence":[3,45,58,104,147,157,178],"rate":[4,59,105],"and":[5,64,90,135,153,198,216],"large":[6],"cost":[7],"of":[8,15,69,127,145,155,180],"the":[9,13,57,62,66,70,85,107,117,122,125,138,146,156,176,189,213],"initial":[10,40],"solution":[11,41],"limit":[12],"performance":[14,126,210],"rapidly":[16],"exploring":[17],"random":[18,91],"tree":[19],"star":[20],"(RRT*).":[21],"To":[22],"address":[23],"this":[24,26,183],"issue,":[25],"paper":[27],"proposes":[28],"a":[29,43,96,102,111,168,172,220],"modified":[30],"RRT*":[31],"algorithm":[32],"(defined":[33],"as":[34],"FF-RRT*)":[35],"that":[36,206],"creates":[37],"an":[38],"optimal":[39],"with":[42,137,171,196,200,219],"fast":[44],"rate.":[46],"An":[47],"improved":[48,80],"hybrid":[49,72,81],"sampling":[50,73,82,88,92,118],"method":[51,74,83],"is":[52,114,129,185],"proposed":[53],"to":[54,120,164,194,212],"speed":[55],"up":[56],"by":[60],"decreasing":[61],"iterations":[63],"overcoming":[65],"application":[67],"limitation":[68],"original":[71],"towards":[75],"concave":[76,173],"cavity":[77,174],"obstacle.":[78],"combines":[84],"goal":[86],"bias":[87],"strategy":[89],"strategy,":[93],"which":[94],"requires":[95],"few":[97],"searching":[98],"time,":[99],"resulting":[100],"in":[101,131,149,159,167,182],"faster":[103],"than":[106,188],"existing":[108],"method.":[109],"Then,":[110],"parent":[112],"node":[113,119],"created":[115],"for":[116],"optimize":[121],"path.":[123],"Finally,":[124],"FF-RRT*":[128,142,207],"validated":[130],"four":[132],"simulation":[133,203],"environments":[134],"compared":[136,163,193,211],"other":[139,214],"algorithms.":[140],"shortens":[143],"32%":[144],"time":[148,158,179],"complex":[150,169,190,223],"maze":[151,161,170,191],"environment":[152,162,184,192],"25%":[154],"simple":[160],"F-RRT*.":[165],"And":[166],"obstacle,":[175],"average":[177],"Fast-RRT*":[181],"134%":[186],"more":[187,222],"12%":[195],"F-RRT*":[197],"34%":[199],"FF-RRT*.":[201],"results":[204],"show":[205],"possesses":[208],"superior":[209],"algorithms,":[215],"also":[217],"fits":[218],"much":[221],"environment.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}