{"id":"https://openalex.org/W4319663818","doi":"https://doi.org/10.1080/01691864.2023.2174817","title":"ATS-RRT*: an improved RRT* algorithm based on alternative paths and triangular area sampling","display_name":"ATS-RRT*: an improved RRT* algorithm based on alternative paths and triangular area sampling","publication_year":2023,"publication_date":"2023-02-09","ids":{"openalex":"https://openalex.org/W4319663818","doi":"https://doi.org/10.1080/01691864.2023.2174817"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2023.2174817","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2174817","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5100347601","display_name":"Zhiwei Zhang","orcid":"https://orcid.org/0000-0002-4766-6198"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi-wei Zhang","raw_affiliation_strings":["National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111876593","display_name":"Yunwei Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yun-wei Jia","raw_affiliation_strings":["National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085534334","display_name":"Qi-qi Su","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi-qi Su","raw_affiliation_strings":["National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiao-tong Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao-tong Chen","raw_affiliation_strings":["National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China","National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People\u2019s Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, People's Republic of China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014028621","display_name":"Bang-peng Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bang-peng Fu","raw_affiliation_strings":["Tiandy Technologies Co., Ltd, Tianjin, People\u2019s Republic of China","Tiandy Technologies Co., Ltd, Tianjin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Tiandy Technologies Co., Ltd, Tianjin, People\u2019s Republic of China","institution_ids":[]},{"raw_affiliation_string":"Tiandy Technologies Co., Ltd, Tianjin, People's Republic of China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111876593"],"corresponding_institution_ids":["https://openalex.org/I136765683"],"apc_list":null,"apc_paid":null,"fwci":2.1325,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.89152618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"37","issue":"10","first_page":"605","last_page":"620"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11106","display_name":"Data Management and Algorithms","score":0.9905999898910522,"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"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.948199987411499,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/path","display_name":"Path (computing)","score":0.6985805034637451},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6339468955993652},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5207821726799011},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4484970271587372},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39932066202163696},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39884790778160095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3958829641342163},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3606196641921997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19902491569519043}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6985805034637451},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6339468955993652},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5207821726799011},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4484970271587372},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39932066202163696},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39884790778160095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3958829641342163},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3606196641921997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19902491569519043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2023.2174817","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2174817","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1969483458","https://openalex.org/W1976930960","https://openalex.org/W2061438946","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2129209579","https://openalex.org/W2141664020","https://openalex.org/W2152195021","https://openalex.org/W2154929945","https://openalex.org/W2163739504","https://openalex.org/W2169528473","https://openalex.org/W2211552581","https://openalex.org/W2909688514","https://openalex.org/W3016164434","https://openalex.org/W3102121895","https://openalex.org/W3181323247","https://openalex.org/W4212771256"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2797949337","https://openalex.org/W3158818664","https://openalex.org/W4388720133","https://openalex.org/W2359600231","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W2380019117","https://openalex.org/W1660309994","https://openalex.org/W3216757130"],"abstract_inverted_index":{"AbstractThe":[0],"Rapidly":[1],"Exploring":[2],"Random":[3],"Tree":[4],"Star":[5],"(RRT*)":[6],"is":[7,13,236,249,259,272,285],"a":[8,16,237,260,273],"probabilistically":[9],"complete":[10],"algorithm.":[11,154],"It":[12],"recognized":[14],"as":[15,78],"better":[17],"path":[18,23,26,73,89,95,118,164,173],"planning":[19,27,90],"algorithm,":[20],"but":[21],"its":[22],"quality":[24,119],"and":[25,45,70,91,113,141,165,178,186],"speed":[28,85,159],"still":[29],"have":[30],"room":[31],"for":[32],"improvement.":[33],"This":[34],"paper":[35],"proposes":[36],"an":[37],"improved":[38,122,175],"RRT*":[39],"algorithm":[40],"based":[41,58],"on":[42,59,231],"alternative":[43,51],"paths":[44,52,57],"triangular":[46,99],"area":[47,100],"sampling":[48,101,127],"(ATS-RRT*).":[49],"The":[50,98,117],"strategy":[53,102,137,194],"generates":[54],"multiple":[55],"initial":[56,81,88,94,163],"whether":[60],"the":[61,67,72,75,79,87,93,126,134,142,147,153,158,162,166,171,204,211,251,287],"sample":[62],"points":[63,69],"can":[64,84,120],"communicate":[65],"with":[66,74,138,183,250,286],"target":[68],"set":[71],"smallest":[76],"cost":[77],"final":[80],"path,":[82],"which":[83],"up":[86,152],"improve":[92],"finding":[96,161,170],"rate.":[97],"combines":[103],"every":[104],"three":[105],"adjacent":[106],"nodes":[107,140],"to":[108],"generate":[109],"some":[110],"triangle":[111,130,139],"areas":[112],"corresponding":[114],"half-triangle":[115],"areas.":[116,131],"be":[121],"quickly":[123],"by":[124,176,203,210],"limiting":[125],"in":[128,146],"these":[129],"In":[132],"addition,":[133],"direct":[135],"connection":[136,193],"tabu":[143],"table":[144],"using":[145],"Rewire":[148],"process":[149],"also":[150],"speeds":[151],"Experiments":[155],"show":[156],"that":[157],"of":[160,169,199,216,226,244,254,267,280],"success":[167],"rate":[168],"suboptimal":[172],"are":[174],"2.3":[177],"1.45":[179],"times":[180],"respectively":[181],"compared":[182],"RRT*,":[184],"Quick-RRT*,":[185],"Informed":[187],"+":[188],"Quick-RRT*.KEYWORDS:":[189],"RRT*path":[190],"planningsampling-based":[191],"algorithmsdirect":[192],"Disclosure":[195],"statementNo":[196],"potential":[197],"conflict":[198],"interest":[200],"was":[201,208],"reported":[202],"author(s).Additional":[205],"informationFundingThis":[206],"work":[207],"supported":[209],"National":[212],"Natural":[213,223],"Science":[214,224],"Foundation":[215,225],"China":[217],"[grant":[218,228],"number":[219,229],"61873188,":[220],"No.":[221],"32171902];":[222],"Tianjin":[227,242,252,265,278],"18JCYBJC19300].Notes":[230],"contributorsZhi-wei":[232],"ZhangZhi":[233],"W.":[234,247],"Zhang":[235],"mechanical":[238,261,274],"engineering":[239,262,275],"student":[240,263,276],"at":[241,264,277],"University":[243,253,266,279],"Technology.Yun-wei":[245],"JiaYun":[246],"Jia":[248],"Technology.Qi-qi":[255],"SuQi":[256],"Q.":[257],"Su":[258],"Technology.Xiao-tong":[268],"ChenXiao":[269],"T.":[270],"Chen":[271],"Technology.Bang-peng":[281],"FuBang":[282],"P.":[283],"Fu":[284],"Tiandy":[288],"Technologies":[289],"Co.,":[290],"Ltd.":[291]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}