{"id":"https://openalex.org/W4414214080","doi":"https://doi.org/10.1007/s40747-025-02081-7","title":"Motion planning for hyper-redundant manipulator systems: combining path following and improved APF-RRT* Path finding","display_name":"Motion planning for hyper-redundant manipulator systems: combining path following and improved APF-RRT* Path finding","publication_year":2025,"publication_date":"2025-09-08","ids":{"openalex":"https://openalex.org/W4414214080","doi":"https://doi.org/10.1007/s40747-025-02081-7"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-025-02081-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-02081-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-02081-7.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/s40747-025-02081-7.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072181400","display_name":"Hongcheng Ji","orcid":"https://orcid.org/0000-0001-6708-2512"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongcheng Ji","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, China","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100754291","display_name":"Cheng Wang","orcid":"https://orcid.org/0000-0001-6075-2878"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Wang","raw_affiliation_strings":["Institute of Advanced Machines, Zhejiang University, Hangzhou, China","School of Mechanical Engineering, Zhejiang University, Hangzhou, China","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Advanced Machines, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057800410","display_name":"Chengzhen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhen Wang","raw_affiliation_strings":["Institute of Advanced Machines, Zhejiang University, Hangzhou, China","School of Mechanical Engineering, Zhejiang University, Hangzhou, China","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Advanced Machines, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078018015","display_name":"Haibo Xie","orcid":"https://orcid.org/0000-0003-0977-8719"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Xie","raw_affiliation_strings":["Institute of Advanced Machines, Zhejiang University, Hangzhou, China","School of Mechanical Engineering, Zhejiang University, Hangzhou, China","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Advanced Machines, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]},{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 866 Yuhanggtang Road, Hangzhou, 310058, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072181400"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":1.163,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82802715,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"11","issue":"10","first_page":null,"last_page":null},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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":0.9965999722480774,"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/motion-planning","display_name":"Motion planning","score":0.8736000061035156},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7257999777793884},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.656499981880188},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6166999936103821},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5687999725341797},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44279998540878296},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.4406999945640564},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.4300000071525574}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8736000061035156},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7257999777793884},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.656499981880188},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6166999936103821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6108999848365784},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5687999725341797},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44279998540878296},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.4406999945640564},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.4300000071525574},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4235000014305115},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.4009000062942505},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3889000117778778},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.37860000133514404},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.36890000104904175},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35199999809265137},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.3334999978542328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3301999866962433},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3255999982357025},{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.3034999966621399},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.25380000472068787}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-025-02081-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-02081-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-02081-7.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:3eeb845dcf264b33938da609f4cc479f","is_oa":true,"landing_page_url":"https://doaj.org/article/3eeb845dcf264b33938da609f4cc479f","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 10, Pp 1-18 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-025-02081-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-02081-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-02081-7.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/G7664632016","display_name":null,"funder_award_id":"2024YFF0505303","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"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/W4414214080.pdf","grobid_xml":"https://content.openalex.org/works/W4414214080.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1976930960","https://openalex.org/W2086860466","https://openalex.org/W2142224528","https://openalex.org/W2218856551","https://openalex.org/W2653772392","https://openalex.org/W2775071556","https://openalex.org/W2782862780","https://openalex.org/W2806185962","https://openalex.org/W2909688514","https://openalex.org/W2972565985","https://openalex.org/W2977305686","https://openalex.org/W3002132318","https://openalex.org/W3102121895","https://openalex.org/W3113040990","https://openalex.org/W3134106660","https://openalex.org/W3211224021","https://openalex.org/W4200089399","https://openalex.org/W4200100883","https://openalex.org/W4225756896","https://openalex.org/W4282966701","https://openalex.org/W4285736775","https://openalex.org/W4304208578","https://openalex.org/W4308310328","https://openalex.org/W4317383747","https://openalex.org/W4366967333","https://openalex.org/W4382462245","https://openalex.org/W4383960459","https://openalex.org/W4387757586","https://openalex.org/W4390938865","https://openalex.org/W4392195832","https://openalex.org/W4392672621","https://openalex.org/W4400900130","https://openalex.org/W4401397468","https://openalex.org/W4401541088","https://openalex.org/W4401707265","https://openalex.org/W4401747966","https://openalex.org/W4402491500","https://openalex.org/W4402516474","https://openalex.org/W4403333767","https://openalex.org/W4404970120"],"related_works":[],"abstract_inverted_index":{"Hyper-redundant":[0],"manipulator":[1],"systems":[2],"(HRMSs)":[3],"have":[4],"significant":[5],"applications":[6],"in":[7,120,174],"various":[8],"scenarios.":[9],"Due":[10],"to":[11,101,116],"their":[12],"excessive":[13],"degrees":[14],"of":[15,63,73,131,170],"freedom":[16],"(DOF),":[17],"they":[18],"can":[19,163],"navigate":[20],"into":[21],"confined":[22],"spaces":[23],"and":[24,31,57,69,134,153],"perform":[25,189],"tasks":[26],"such":[27],"as":[28],"exploration,":[29],"detection,":[30],"maintenance.":[32],"However,":[33],"its":[34,38],"flexibility":[35],"also":[36],"renders":[37],"motion":[39,48],"planning":[40,49,168],"highly":[41],"challenging.":[42],"This":[43,89,113],"article":[44],"proposes":[45],"an":[46,107,138],"efficient":[47],"method":[50,181],"for":[51,84,145,155],"HRMSs,":[52],"based":[53,182],"on":[54,183],"path":[55,58,81,103,167,188],"finding":[56],"following.":[59],"First,":[60],"the":[61,70,74,85,94,121,129,166,171,179,187],"characteristics":[62],"a":[64,80,92],"typical":[65],"HRMS":[66,75,86],"are":[67,151],"introduced,":[68],"kinematic":[71],"model":[72],"is":[76,87,111,143],"established.":[77],"Following":[78],"that,":[79],"tracking":[82],"algorithm":[83,90,110,114],"introduced.":[88],"integrates":[91],"\u2018follow":[93],"leader\u2019":[95],"(FTL)":[96],"approach":[97],"with":[98],"traditional":[99],"methods":[100,150],"enhance":[102],"following":[104],"efficiency.":[105,147],"Thirdly,":[106],"improved":[108],"APF-RRT*":[109,162],"proposed.":[112],"aims":[115],"find":[117],"suitable":[118],"paths":[119],"workspace":[122],"while":[123],"reducing":[124],"algorithmic":[125],"dimensionality.":[126],"It":[127],"combines":[128],"advantages":[130],"both":[132],"APF":[133],"RRT*":[135],"algorithms.":[136],"Additionally,":[137],"angle":[139],"correction":[140],"force":[141],"field":[142],"incorporated":[144],"high":[146],"Several":[148],"sampling-based":[149],"optimized":[152],"compared":[154],"analysis.":[156],"Simulation":[157],"results":[158],"show":[159],"that":[160],"Improved":[161],"efficiently":[164],"solve":[165],"problem":[169],"HRMS,":[172],"especially":[173],"complex":[175],"environments.":[176],"In":[177],"addition,":[178],"smoothing":[180],"Bezier":[184],"curves":[185],"makes":[186],"better.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
