{"id":"https://openalex.org/W7164187854","doi":"https://doi.org/10.1016/j.robot.2026.105568","title":"Path planning of mobile robots based on safety in real-time dynamic environments","display_name":"Path planning of mobile robots based on safety in real-time dynamic environments","publication_year":2026,"publication_date":"2026-06-10","ids":{"openalex":"https://openalex.org/W7164187854","doi":"https://doi.org/10.1016/j.robot.2026.105568"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2026.105568","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105568","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"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":"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":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.robot.2026.105568","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007406484","display_name":"Chongyang Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongyang Lv","raw_affiliation_strings":["Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China"],"raw_orcid":"https://orcid.org/0009-0009-1299-5299","affiliations":[{"raw_affiliation_string":"Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138328293","display_name":"Han Wang","orcid":"https://orcid.org/0009-0005-6633-4999"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Han Wang","raw_affiliation_strings":["Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China"],"raw_orcid":"https://orcid.org/0009-0005-6633-4999","affiliations":[{"raw_affiliation_string":"Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138348463","display_name":"Shuang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Wang","raw_affiliation_strings":["Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138322568","display_name":"Mengyan Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyan Cai","raw_affiliation_strings":["Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5138352990","display_name":"Shuai Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Chen","raw_affiliation_strings":["Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science, Harbin University of Science and Technology, Nangang District, Harbin, 150080, China","institution_ids":["https://openalex.org/I100188998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5138328293"],"corresponding_institution_ids":["https://openalex.org/I100188998"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":{"value":3020,"currency":"USD","value_usd":3020},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.74456147,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"204","issue":null,"first_page":"105568","last_page":"105568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8282999992370605,"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":0.8282999992370605,"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":0.020099999383091927,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.013100000098347664,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.637499988079071},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6347000002861023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5230000019073486},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4465999901294708},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.33980000019073486},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.2851000130176544}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8621000051498413},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.637499988079071},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6347000002861023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5230000019073486},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4465999901294708},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4307999908924103},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37059998512268066},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3522000014781952},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34769999980926514},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.33980000019073486},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.2851000130176544},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25839999318122864},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2565999925136566},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2026.105568","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105568","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"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":"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":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.robot.2026.105568","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105568","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"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":"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":"Robotics and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5545212626457214,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2997061791","https://openalex.org/W3083466020","https://openalex.org/W3129550242","https://openalex.org/W4295308546","https://openalex.org/W4308731068","https://openalex.org/W4319990519","https://openalex.org/W4323519568","https://openalex.org/W4377104434","https://openalex.org/W4381542488","https://openalex.org/W4385252024","https://openalex.org/W4385335596","https://openalex.org/W4388348180","https://openalex.org/W4390817112","https://openalex.org/W4391647656","https://openalex.org/W4403277676","https://openalex.org/W4405166130","https://openalex.org/W4405731288","https://openalex.org/W4406321395","https://openalex.org/W4406998211","https://openalex.org/W4407007651","https://openalex.org/W4409199639","https://openalex.org/W4409392001","https://openalex.org/W4410308219","https://openalex.org/W4410524930","https://openalex.org/W4416407220","https://openalex.org/W4416579445"],"related_works":[],"abstract_inverted_index":{"Ensuring":[0],"real-time":[1,70],"safety":[2,44,106,217],"in":[3,159,221],"dynamic":[4,71,160,174,222],"environments":[5],"remains":[6],"a":[7,54,68,97,131],"fundamental":[8],"challenge":[9],"for":[10,32],"mobile":[11],"robot":[12],"path":[13,72,105],"planning.":[14],"Hybrid":[15],"frameworks":[16],"that":[17],"combine":[18],"the":[19,23,85,104,115,125,181,185],"A*":[20,86],"algorithm":[21],"with":[22,96,207],"Dynamic":[24],"Window":[25],"Approach":[26],"(DWA)":[27],"have":[28],"drawn":[29],"considerable":[30],"attention":[31],"their":[33,148],"efficiency":[34],"and":[35,50,53,101,139,145,150,155,177,196,198,203,219],"simplicity.":[36],"However,":[37],"these":[38,63],"methods":[39],"generally":[40],"suffer":[41],"from":[42],"weak":[43],"constraints,":[45],"loose":[46],"coupling":[47],"between":[48],"global":[49,77,132],"local":[51,121],"planners,":[52],"lack":[55],"of":[56,58,117],"modeling":[57,83],"real-world":[59,212],"uncertainties.":[60],"To":[61],"address":[62],"issues,":[64],"this":[65],"paper":[66],"proposes":[67],"safety-driven":[69],"planning":[73],"framework":[74],"(RTDA*).":[75],"For":[76,120],"planning,":[78,122],"we":[79,123],"integrate":[80],"obstacle":[81,175],"risk":[82,98],"into":[84],"evaluation":[87,127],"function,":[88,100],"introduce":[89],"an":[90,136,140],"adaptive":[91,141],"neighborhood":[92],"search":[93],"strategy":[94],"combined":[95],"barrier":[99],"theoretically":[102],"guarantee":[103],"margin":[107],"through":[108],"invariant":[109],"set":[110],"analysis":[111],"while":[112],"significantly":[113,215],"reducing":[114],"number":[116],"expanded":[118],"nodes.":[119],"enhance":[124],"DWA":[126],"function":[128],"by":[129,194,201],"introducing":[130],"cost":[133],"guidance":[134],"factor,":[135,138],"attraction":[137],"velocity":[142],"scoring":[143],"coefficient,":[144],"rigorously":[146],"derive":[147],"monotonicity":[149],"boundedness":[151],"to":[152],"ensure":[153],"balanced":[154],"predictable":[156],"navigation":[157],"behavior":[158],"environments.":[161,223],"Comprehensive":[162],"experiments":[163],"include":[164],"ablation":[165],"studies,":[166],"comparative":[167,187],"simulations":[168],"against":[169],"five":[170],"mainstream":[171],"algorithms,":[172],"Gazebo":[173],"tests,":[176],"physical":[178],"validation":[179],"on":[180],"IceBot":[182],"platform.":[183],"In":[184],"two":[186],"simulation":[188],"environments,":[189],"RTDA*":[190,214],"reduces":[191],"computation":[192],"time":[193],"73.23%":[195],"81.25%,":[197],"searched":[199],"nodes":[200],"38.14%":[202],"75.84%,":[204],"respectively,":[205],"compared":[206],"conventional":[208],"A*.":[209],"Furthermore,":[210],"under":[211],"uncertainties,":[213],"improves":[216],"margins":[218],"robustness":[220]},"counts_by_year":[],"updated_date":"2026-06-21T06:12:48.119943","created_date":"2026-06-11T00:00:00"}