{"id":"https://openalex.org/W4410215018","doi":"https://doi.org/10.1007/s40747-025-01906-9","title":"Deep reinforcement learning for path planning of autonomous mobile robots in complicated environments","display_name":"Deep reinforcement learning for path planning of autonomous mobile robots in complicated environments","publication_year":2025,"publication_date":"2025-05-08","ids":{"openalex":"https://openalex.org/W4410215018","doi":"https://doi.org/10.1007/s40747-025-01906-9"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-025-01906-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-01906-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-01906-9.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; 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/s40747-025-01906-9.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100332497","display_name":"Zhijie Zhang","orcid":"https://orcid.org/0000-0002-7164-2751"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhijie Zhang","raw_affiliation_strings":["Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I75900474"]},{"raw_affiliation_string":"School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I43922553","https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005771662","display_name":"Hao Fu","orcid":"https://orcid.org/0000-0002-3598-0497"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Fu","raw_affiliation_strings":["Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I75900474"]},{"raw_affiliation_string":"School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I43922553","https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101661854","display_name":"Juan Yang","orcid":"https://orcid.org/0000-0002-0970-5328"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juan Yang","raw_affiliation_strings":["Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I75900474"]},{"raw_affiliation_string":"School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I43922553","https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084568164","display_name":"Yunhan Lin","orcid":"https://orcid.org/0000-0003-2779-2637"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhan Lin","raw_affiliation_strings":["Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I75900474"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"School of Computer Science and Technology, Wuhan University of Science and Technology, No. 947, Heping Avenue, Wuhan, 430081, Hubei, China","institution_ids":["https://openalex.org/I43922553","https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100332497"],"corresponding_institution_ids":["https://openalex.org/I196699116","https://openalex.org/I43922553","https://openalex.org/I75900474"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":28.1178,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.99502797,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"11","issue":"6","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9927999973297119,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8880132436752319},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7156283855438232},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6439424157142639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5800305604934692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5566556453704834},{"id":"https://openalex.org/keywords/computational-intelligence","display_name":"Computational intelligence","score":0.5562887191772461},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5298088788986206},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.49123090505599976},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43512970209121704},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34970492124557495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30067360401153564},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07948464155197144},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07503911852836609}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8880132436752319},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7156283855438232},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6439424157142639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5800305604934692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5566556453704834},{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.5562887191772461},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5298088788986206},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.49123090505599976},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43512970209121704},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34970492124557495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30067360401153564},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07948464155197144},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07503911852836609}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-025-01906-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-01906-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-01906-9.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:35a66729ab3c4bf0a38302a0aabe11df","is_oa":true,"landing_page_url":"https://doaj.org/article/35a66729ab3c4bf0a38302a0aabe11df","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 11, Iss 6, Pp 1-15 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-025-01906-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-01906-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-01906-9.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"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/G1426318481","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"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/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/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5931422709","display_name":null,"funder_award_id":"2022YFB4700400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/G8589651859","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G8847795945","display_name":null,"funder_award_id":"62073249","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science 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/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4410215018.pdf","grobid_xml":"https://content.openalex.org/works/W4410215018.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W2033579450","https://openalex.org/W2145339207","https://openalex.org/W2421912678","https://openalex.org/W2515498963","https://openalex.org/W2746553466","https://openalex.org/W2796419292","https://openalex.org/W2799820594","https://openalex.org/W2890001928","https://openalex.org/W2898165977","https://openalex.org/W2911695803","https://openalex.org/W2978949425","https://openalex.org/W3035502324","https://openalex.org/W3068075977","https://openalex.org/W3081803538","https://openalex.org/W3166401044","https://openalex.org/W3186325801","https://openalex.org/W3196603038","https://openalex.org/W4285189951","https://openalex.org/W4304480790","https://openalex.org/W4309344696","https://openalex.org/W4381326318","https://openalex.org/W4389670497","https://openalex.org/W4392125035","https://openalex.org/W4392502280","https://openalex.org/W4392940109","https://openalex.org/W4397004826","https://openalex.org/W4400904814"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"In":[0],"complicated":[1,139],"environments,":[2],"which":[3],"include":[4,61],"dynamic":[5,71],"and":[6,23,87,97,130,136],"narrow":[7],"areas,":[8],"the":[9,30,46,63,79,115,123],"path":[10,84],"planning":[11,85],"of":[12],"Autonomous":[13],"Mobile":[14],"Robots":[15],"(AMRs)":[16],"encounters":[17],"challenges,":[18,45],"like":[19],"slow":[20],"model":[21],"convergence":[22],"limited":[24],"representational":[25],"capabilities,":[26],"often":[27],"resulting":[28],"in":[29,81,138],"robot":[31],"taking":[32],"longer,":[33],"less":[34],"efficient":[35],"paths":[36],"or":[37],"even":[38],"colliding":[39],"with":[40],"obstacles.":[41],"To":[42],"tackle":[43],"these":[44],"Gated":[47],"Attention":[48],"Prioritized":[49,89],"Experience":[50,90],"Replay":[51,91],"Soft":[52],"Actor-Critic":[53],"(GAP_":[54],"SAC)":[55],"algorithm":[56,126],"is":[57,105],"proposed.":[58],"Key":[59],"improvements":[60],"expanding":[62],"state":[64],"space":[65],"for":[66],"better":[67],"perception,":[68],"designing":[69],"a":[70,101],"heuristic":[72],"reward":[73],"function":[74],"to":[75,93,108],"more":[76],"effectively":[77],"guide":[78],"AMR":[80],"achieving":[82],"its":[83],"objectives":[86],"integrating":[88],"(PER)":[92],"improve":[94],"sample":[95],"efficiency":[96],"accelerate":[98],"convergence.":[99],"Additionally,":[100],"gated":[102],"attention":[103],"mechanism":[104],"also":[106],"introduced":[107],"focus":[109],"on":[110],"critical":[111],"environmental":[112],"features,":[113],"enhancing":[114],"models\u2019":[116],"perception":[117],"capability.":[118],"Comparative":[119],"experiments":[120],"validate":[121],"that":[122],"proposed":[124],"GAP_SAC":[125],"outperforms":[127],"TD3,":[128],"SAC":[129],"SAC\u2019s":[131],"variant,":[132],"demonstrating":[133],"superior":[134],"robustness":[135],"generalization":[137],"environments.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
