{"id":"https://openalex.org/W7164917613","doi":"https://doi.org/10.1016/j.compag.2026.112035","title":"Path planning for citrus harvesting robot based on adaptive parallel-coupled RRT*","display_name":"Path planning for citrus harvesting robot based on adaptive parallel-coupled RRT*","publication_year":2026,"publication_date":"2026-06-17","ids":{"openalex":"https://openalex.org/W7164917613","doi":"https://doi.org/10.1016/j.compag.2026.112035"},"language":"en","primary_location":{"id":"doi:10.1016/j.compag.2026.112035","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.112035","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138733801","display_name":"Tieyu Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I37574244","display_name":"Sichuan Agricultural University","ror":"https://ror.org/0388c3403","country_code":"CN","type":"education","lineage":["https://openalex.org/I37574244"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tieyu Zhang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China","institution_ids":["https://openalex.org/I37574244"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029963016","display_name":"Zuoliang Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I37574244","display_name":"Sichuan Agricultural University","ror":"https://ror.org/0388c3403","country_code":"CN","type":"education","lineage":["https://openalex.org/I37574244"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuoliang Tang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China","institution_ids":["https://openalex.org/I37574244"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089484244","display_name":"Yuhang Wang","orcid":"https://orcid.org/0000-0001-6577-6078"},"institutions":[{"id":"https://openalex.org/I37574244","display_name":"Sichuan Agricultural University","ror":"https://ror.org/0388c3403","country_code":"CN","type":"education","lineage":["https://openalex.org/I37574244"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuhang Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China","institution_ids":["https://openalex.org/I37574244"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138750748","display_name":"Yong He","orcid":null},"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":false,"raw_author_name":"Yong He","raw_affiliation_strings":["Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138743111","display_name":"Lijia Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I37574244","display_name":"Sichuan Agricultural University","ror":"https://ror.org/0388c3403","country_code":"CN","type":"education","lineage":["https://openalex.org/I37574244"]},{"id":"https://openalex.org/I4210125143","display_name":"Chengdu University","ror":"https://ror.org/034z67559","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210125143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijia Xu","raw_affiliation_strings":["Chengdu Aeronautic Polytechnic University, Chengdu, China","College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chengdu Aeronautic Polytechnic University, Chengdu, China","institution_ids":["https://openalex.org/I4210125143"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China","institution_ids":["https://openalex.org/I37574244"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5138755001","display_name":"Yuchao Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I37574244","display_name":"Sichuan Agricultural University","ror":"https://ror.org/0388c3403","country_code":"CN","type":"education","lineage":["https://openalex.org/I37574244"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuchao Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Sichuan Agricultural University, Ya\u2019an, China","institution_ids":["https://openalex.org/I37574244"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089484244","https://openalex.org/A5138755001"],"corresponding_institution_ids":["https://openalex.org/I37574244"],"apc_list":{"value":3680,"currency":"USD","value_usd":3680},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.75433042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"251","issue":null,"first_page":"112035","last_page":"112035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.8585000038146973,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.8585000038146973,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12729","display_name":"Tree Root and Stability Studies","score":0.021800000220537186,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12201","display_name":"Agricultural Engineering and Mechanization","score":0.010999999940395355,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.6144999861717224},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5845999717712402},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43050000071525574},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4081000089645386},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3165000081062317}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6144999861717224},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5845999717712402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5242999792098999},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4341000020503998},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41040000319480896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4081000089645386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32679998874664307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3165000081062317},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3131999969482422},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3057999908924103},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.29350000619888306},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.compag.2026.112035","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.112035","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.5503101348876953}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2110762409","https://openalex.org/W2900657351","https://openalex.org/W2909688514","https://openalex.org/W3002132318","https://openalex.org/W3214916774","https://openalex.org/W4296016714","https://openalex.org/W4313644344","https://openalex.org/W4366411247","https://openalex.org/W4366823992","https://openalex.org/W4389206127","https://openalex.org/W4389206703","https://openalex.org/W4391707505","https://openalex.org/W4394946636","https://openalex.org/W4400848756","https://openalex.org/W4401106199","https://openalex.org/W4401338328","https://openalex.org/W4401875390","https://openalex.org/W4403888074","https://openalex.org/W4405433799","https://openalex.org/W4407424596","https://openalex.org/W4408140760","https://openalex.org/W4408409905","https://openalex.org/W4409141775","https://openalex.org/W4413292607"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2026-06-17T00:00:00"}