{"id":"https://openalex.org/W4410442410","doi":"https://doi.org/10.1017/s0263574725000529","title":"Topological discrimination and lazy collision-Based multistage optimization of probabilistic roadmap algorithm for path planning","display_name":"Topological discrimination and lazy collision-Based multistage optimization of probabilistic roadmap algorithm for path planning","publication_year":2025,"publication_date":"2025-05-01","ids":{"openalex":"https://openalex.org/W4410442410","doi":"https://doi.org/10.1017/s0263574725000529"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725000529","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000529","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/A5027330744","display_name":"Wenbin Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbin Gong","raw_affiliation_strings":["Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China"],"raw_orcid":"https://orcid.org/0009-0001-4391-6401","affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China","institution_ids":["https://openalex.org/I50180762"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100539951","display_name":"Hua Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hua Luo","raw_affiliation_strings":["Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center, Chongqing Three Gorges University, Chongqing, 404120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center, Chongqing Three Gorges University, Chongqing, 404120, China","institution_ids":["https://openalex.org/I50180762"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100915831","display_name":"Yu Su","orcid":null},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Su","raw_affiliation_strings":["Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China","institution_ids":["https://openalex.org/I50180762"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107910360","display_name":"Yu Gu","orcid":"https://orcid.org/0009-0001-1576-8739"},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Gu","raw_affiliation_strings":["Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China","institution_ids":["https://openalex.org/I50180762"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043761004","display_name":"Honghao Chen","orcid":"https://orcid.org/0009-0000-2721-6897"},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"HongHao Chen","raw_affiliation_strings":["Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China","institution_ids":["https://openalex.org/I50180762"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012216028","display_name":"Yutao Jiang","orcid":"https://orcid.org/0009-0008-6565-1214"},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yutao Jiang","raw_affiliation_strings":["Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China","institution_ids":["https://openalex.org/I50180762"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tangju Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tangju Yuan","raw_affiliation_strings":["Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Chongqing 404120, China","institution_ids":["https://openalex.org/I50180762"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100641001","display_name":"Hongbing Li","orcid":"https://orcid.org/0000-0001-5783-7563"},"institutions":[{"id":"https://openalex.org/I50180762","display_name":"Chongqing Three Gorges University","ror":"https://ror.org/05rs3pv16","country_code":"CN","type":"education","lineage":["https://openalex.org/I50180762"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbing Li","raw_affiliation_strings":["Chongqing Municipal Key Laboratory of Intelligent Information Processing and Control, Chongqing Three Gorges University, Chongqing 404120, China","Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center, Chongqing Three Gorges University, Chongqing, 404120, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Municipal Key Laboratory of Intelligent Information Processing and Control, Chongqing Three Gorges University, Chongqing 404120, China","institution_ids":["https://openalex.org/I50180762"]},{"raw_affiliation_string":"Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center, Chongqing Three Gorges University, Chongqing, 404120, China","institution_ids":["https://openalex.org/I50180762"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100539951"],"corresponding_institution_ids":["https://openalex.org/I50180762"],"apc_list":null,"apc_paid":null,"fwci":1.1332,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77816435,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"43","issue":"5","first_page":"1885","last_page":"1909"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11106","display_name":"Data Management and Algorithms","score":0.9753000140190125,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/motion-planning","display_name":"Motion planning","score":0.7361230254173279},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.716924786567688},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.6852550506591797},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6462725400924683},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5771002173423767},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5501782894134521},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5157670974731445},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.4517029821872711},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.437610387802124},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4318946599960327},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.4267879128456116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3677752614021301},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3350611925125122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22454595565795898},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19956594705581665},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.10526007413864136},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07440346479415894}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7361230254173279},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.716924786567688},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.6852550506591797},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6462725400924683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5771002173423767},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5501782894134521},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5157670974731445},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.4517029821872711},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.437610387802124},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4318946599960327},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.4267879128456116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3677752614021301},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3350611925125122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22454595565795898},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19956594705581665},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.10526007413864136},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07440346479415894},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725000529","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000529","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1989419201","https://openalex.org/W2981460880","https://openalex.org/W3000444774","https://openalex.org/W3001538587","https://openalex.org/W3011877017","https://openalex.org/W3088197938","https://openalex.org/W3098201584","https://openalex.org/W3108081931","https://openalex.org/W3111308533","https://openalex.org/W3158535530","https://openalex.org/W3166118626","https://openalex.org/W3181621367","https://openalex.org/W4283378140","https://openalex.org/W4292756226","https://openalex.org/W4293221126","https://openalex.org/W4294142922","https://openalex.org/W4379054001","https://openalex.org/W4388282753","https://openalex.org/W4389819983","https://openalex.org/W4390887207","https://openalex.org/W4392746349","https://openalex.org/W4399886236","https://openalex.org/W4401873149","https://openalex.org/W6775069072","https://openalex.org/W6794339771","https://openalex.org/W6842095810"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W4381746183","https://openalex.org/W2389713625","https://openalex.org/W2134348961","https://openalex.org/W4308217561","https://openalex.org/W2115192598","https://openalex.org/W2160419405"],"abstract_inverted_index":{"Abstract":[0],"The":[1,117],"selection":[2],"of":[3,22,85,148,189,219,258],"random":[4],"sampling":[5,23,78,90,98,191,220,259],"points":[6,24,91,99,192,221,260],"is":[7,49,110,119,138],"crucial":[8],"for":[9,160,254],"the":[10,20,124,127,142,146,169,186,217,229,245,256],"path":[11,27,109,118,149],"quality":[12],"generated":[13,93,111,190],"by":[14,122,193,199],"probabilistic":[15,45],"roadmap":[16,46],"(PRM)":[17],"algorithm.":[18,263],"Increasing":[19],"number":[21,147,188,218],"can":[25,166,231],"enhance":[26],"quality.":[28],"However,":[29],"it":[30,72,241],"may":[31],"also":[32],"lead":[33],"to":[34,131,140,175,242],"extended":[35],"convergence":[36,224],"time":[37,198],"and":[38,55,68,162,195,204,209,222],"reduced":[39],"computational":[40],"efficiency.":[41],"Therefore,":[42],"an":[43,251],"improved":[44],"algorithm":[47,59,155,184,214,230,249],"(TL-PRM)":[48],"proposed":[50],"based":[51],"on":[52,126],"topological":[53,74,87],"discrimination":[54],"lazy":[56],"collision.":[57],"TL-PRM":[58,154,183,213,248],"first":[60],"generates":[61],"a":[62,103,113,135],"circular":[63],"grid":[64],"area":[65],"among":[66],"start":[67],"goal":[69,246],"points.":[70],"Then,":[71],"constructs":[73],"nodes.":[75,88],"Subsequently,":[76],"elliptical":[77],"areas":[79],"are":[80,92,100],"created":[81],"between":[82],"each":[83],"pair":[84],"adjacent":[86],"Random":[89],"within":[94],"these":[95],"areas.":[96],"These":[97],"interconnected":[101],"using":[102,112],"layer":[104],"connection":[105],"strategy.":[106,116],"An":[107],"initial":[108],"delayed":[114],"collision":[115],"then":[120],"adjusted":[121],"modifying":[123],"nodes":[125],"convex":[128],"outer":[129],"edges":[130],"avoid":[132,176],"obstacles.":[133,164,178],"Finally,":[134],"reconnection":[136],"strategy":[137],"employed":[139],"optimize":[141],"path.":[143],"This":[144,239],"reduces":[145,185],"waypoints.":[150],"In":[151,207,226],"dynamic":[152,163,177,227],"environments,":[153,228],"employs":[156],"pose":[157,173,234],"adjustment":[158],"strategies":[159],"semi-static":[161],"It":[165],"use":[167],"either":[168],"same":[170],"or":[171],"opposite":[172],"adjustments":[174],"Experimental":[179],"results":[180],"indicate":[181],"that":[182],"average":[187,196],"70.9%":[194],"computation":[197],"62.1%":[200],"compared":[201],"with":[202],"PRM*":[203],"PRM-Astar":[205],"algorithms.":[206],"winding":[208],"narrow":[210],"passage":[211],"maps,":[212],"significantly":[215],"decreases":[216],"shortens":[223],"time.":[225,238],"adjust":[232],"its":[233],"orientation":[235],"in":[236,261],"real":[237],"allows":[240],"safely":[243],"reach":[244],"point.":[247],"provides":[250],"effective":[252],"solution":[253],"reducing":[255],"generation":[257],"PRM":[262]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}