{"id":"https://openalex.org/W4392469836","doi":"https://doi.org/10.1017/s026357472400016x","title":"Collision-free path planning for cable-driven continuum robot based on improved artificial potential field","display_name":"Collision-free path planning for cable-driven continuum robot based on improved artificial potential field","publication_year":2024,"publication_date":"2024-03-05","ids":{"openalex":"https://openalex.org/W4392469836","doi":"https://doi.org/10.1017/s026357472400016x"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472400016x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472400016x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5070638461","display_name":"Meng Ding","orcid":"https://orcid.org/0000-0003-4175-5736"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Ding","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102421649","display_name":"Xianjie Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianjie Zheng","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084242725","display_name":"Liaoxue Liu","orcid":"https://orcid.org/0000-0002-3476-2834"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liaoxue Liu","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100607719","display_name":"Jian Guo","orcid":"https://orcid.org/0000-0002-3722-6578"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Guo","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044864128","display_name":"Yu Guo","orcid":"https://orcid.org/0000-0002-8591-4703"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu Guo","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing China"],"raw_orcid":"https://orcid.org/0000-0002-8591-4703","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044864128"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":3.864,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.94103371,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"42","issue":"5","first_page":"1350","last_page":"1367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9950000047683716,"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":0.6522665023803711},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6492965817451477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6457130908966064},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5138404965400696},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44647467136383057},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.44274213910102844},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41660821437835693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4149928390979767},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34053122997283936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32946527004241943},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2960039973258972},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12935364246368408},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06431171298027039},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06088608503341675}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6522665023803711},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6492965817451477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6457130908966064},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5138404965400696},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44647467136383057},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.44274213910102844},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41660821437835693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4149928390979767},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34053122997283936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32946527004241943},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2960039973258972},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12935364246368408},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06431171298027039},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06088608503341675},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357472400016x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472400016x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1974724580","https://openalex.org/W2002680525","https://openalex.org/W2064043586","https://openalex.org/W2101667962","https://openalex.org/W2121168822","https://openalex.org/W2295877882","https://openalex.org/W2561565237","https://openalex.org/W2739636222","https://openalex.org/W2750734506","https://openalex.org/W2903348871","https://openalex.org/W2911226473","https://openalex.org/W2931194436","https://openalex.org/W2937598023","https://openalex.org/W2947009796","https://openalex.org/W2964247400","https://openalex.org/W2969606876","https://openalex.org/W2973843340","https://openalex.org/W2987061965","https://openalex.org/W3009672064","https://openalex.org/W3009747427","https://openalex.org/W3046983221","https://openalex.org/W3072147888","https://openalex.org/W3134639965","https://openalex.org/W3138919713","https://openalex.org/W3186246039","https://openalex.org/W3188777449","https://openalex.org/W3198399144","https://openalex.org/W3203500536","https://openalex.org/W3204719635","https://openalex.org/W3206391110","https://openalex.org/W4210927443","https://openalex.org/W4212876379","https://openalex.org/W4220755987","https://openalex.org/W4285253626","https://openalex.org/W4294691695","https://openalex.org/W4294796184","https://openalex.org/W4313639260","https://openalex.org/W4360619340","https://openalex.org/W4386846133","https://openalex.org/W4388459576","https://openalex.org/W6791762643"],"related_works":["https://openalex.org/W1965569281","https://openalex.org/W2062919732","https://openalex.org/W2573269332","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4388726836","https://openalex.org/W4282942842","https://openalex.org/W4324119413","https://openalex.org/W2893030767"],"abstract_inverted_index":{"Abstract":[0],"Continuum":[1],"robot":[2,30],"has":[3],"become":[4],"a":[5,32,42,58],"research":[6],"hotspot":[7],"due":[8,47],"to":[9,16,40,48,85],"its":[10,49],"excellent":[11],"dexterity,":[12],"flexibility":[13],"and":[14,23,131],"applicability":[15],"constrained":[17],"environments.":[18],"However,":[19],"the":[20,28,52,65,72,78,88,94,101,111,114,121,135,138],"effective,":[21],"secure":[22],"accurate":[24],"path":[25,60,140],"planning":[26,61,141],"for":[27,35,71,96],"continuum":[29,74],"remains":[31],"challenging":[33],"issue,":[34],"that":[36],"it":[37],"is":[38,83,108],"difficult":[39],"choose":[41],"suitable":[43],"inverse":[44],"kinematics":[45],"solution":[46],"redundancy":[50],"in":[51,76],"confined":[53],"environment.":[54],"This":[55],"paper":[56],"presents":[57],"collision-free":[59],"method":[62],"based":[63],"on":[64],"improved":[66],"artificial":[67],"potential":[68],"field":[69],"(APF)":[70],"cable-driven":[73],"robot,":[75],"which":[77,118],"beetle":[79],"antennae":[80],"search":[81],"algorithm":[82,122],"adopted":[84],"deal":[86],"with":[87],"optimal":[89],"problem":[90,104],"of":[91,105,113,126,137],"APF":[92,107],"without":[93],"necessary":[95],"velocity":[97],"kinematics.":[98],"In":[99],"addition,":[100],"local":[102,127],"optimum":[103],"traditional":[106],"solved":[109],"by":[110],"randomness":[112],"antennae\u2019s":[115],"direction":[116],"vector":[117],"can":[119],"make":[120],"easily":[123],"jump":[124],"out":[125],"minima.":[128],"The":[129],"simulation":[130],"experimental":[132],"results":[133],"verify":[134],"efficiency":[136],"proposed":[139],"method.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}