{"id":"https://openalex.org/W2007857089","doi":"https://doi.org/10.1108/01439911111122815","title":"Path planning for mobile robot in a 2.5\u2010dimensional grid\u2010based map","display_name":"Path planning for mobile robot in a 2.5\u2010dimensional grid\u2010based map","publication_year":2011,"publication_date":"2011-05-03","ids":{"openalex":"https://openalex.org/W2007857089","doi":"https://doi.org/10.1108/01439911111122815","mag":"2007857089"},"language":"en","primary_location":{"id":"doi:10.1108/01439911111122815","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911111122815","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5019196444","display_name":"Jiajun Gu","orcid":"https://orcid.org/0000-0003-3336-6984"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajun Gu","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiaotong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Cao","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiaotong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.5149,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.67261805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"38","issue":"3","first_page":"315","last_page":"321"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9952999949455261,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9761999845504761,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8598029613494873},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.7732841968536377},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.7417054176330566},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.7300658822059631},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6203134655952454},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.606867790222168},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.6020108461380005},{"id":"https://openalex.org/keywords/grid-method-multiplication","display_name":"Grid method multiplication","score":0.5862309336662292},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5418059229850769},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4484706223011017},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42389023303985596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41307157278060913},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.383550226688385},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35128849744796753},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21121594309806824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18144190311431885}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8598029613494873},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.7732841968536377},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.7417054176330566},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.7300658822059631},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6203134655952454},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.606867790222168},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.6020108461380005},{"id":"https://openalex.org/C91370436","wikidata":"https://www.wikidata.org/wiki/Q5608616","display_name":"Grid method multiplication","level":3,"score":0.5862309336662292},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5418059229850769},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4484706223011017},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42389023303985596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41307157278060913},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.383550226688385},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35128849744796753},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21121594309806824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18144190311431885},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439911111122815","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911111122815","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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":27,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1598987408","https://openalex.org/W1953361974","https://openalex.org/W1974909294","https://openalex.org/W2006774336","https://openalex.org/W2022921915","https://openalex.org/W2090170700","https://openalex.org/W2097476511","https://openalex.org/W2120569500","https://openalex.org/W2121310815","https://openalex.org/W2126969795","https://openalex.org/W2130957631","https://openalex.org/W2138892907","https://openalex.org/W2142782166","https://openalex.org/W2143220699","https://openalex.org/W2143279968","https://openalex.org/W2145089737","https://openalex.org/W2147083009","https://openalex.org/W2161379097","https://openalex.org/W2162568143","https://openalex.org/W2294319407","https://openalex.org/W2304832331","https://openalex.org/W2556535120","https://openalex.org/W4242811155","https://openalex.org/W6680919040","https://openalex.org/W6681425221","https://openalex.org/W6696955428"],"related_works":["https://openalex.org/W2007857089","https://openalex.org/W2953072111","https://openalex.org/W2041862797","https://openalex.org/W2125569607","https://openalex.org/W2363708335","https://openalex.org/W248608892","https://openalex.org/W4313270149","https://openalex.org/W2084091668","https://openalex.org/W4405218312","https://openalex.org/W4383333717"],"abstract_inverted_index":{"Purpose":[0],"Two":[1],"and":[2],"one":[3],"half\u2010dimensional":[4],"(2.5D)":[5],"grid":[6,35,51,81,100,154,188],"maps":[7],"are":[8],"useful":[9],"for":[10,89,112,124,173],"navigation":[11,174,204],"in":[12,32,48,128,152,175,185],"outdoor":[13],"environment":[14],"or":[15],"on":[16],"non\u2010flat":[17,87,196],"surface.":[18,197],"However,":[19],"little":[20],"attention":[21],"has":[22],"been":[23],"given":[24],"to":[25,27,43,55,60,85,93,145,167,193],"how":[26],"find":[28],"an":[29,57,102],"optimal":[30,149],"path":[31,62,115,126,150,171],"a":[33,45,49,143,182,186,195],"2.5D":[34,50,80,99,163,187],"map.":[36],"The":[37,198],"purpose":[38],"of":[39,75,148,202,217],"this":[40],"paper":[41,180],"is":[42,69,83,110,122,133,191,200,212],"develop":[44],"path\u2010planning":[46,183],"method":[47,165],"map,":[52,101],"which":[53,190],"aims":[54],"provide":[56,142],"efficient":[58,169,203],"solution":[59,144],"robot":[61,68],"planning":[63,127,140,151,172],"no":[64,205],"matter":[65,206],"whether":[66,207],"the":[67,72,76,94,98,113,120,125,138,146,157,208,215],"equipped":[70],"with":[71],"prior":[73],"knowledge":[74],"environment.":[77,130,177],"Design/methodology/approach":[78],"A":[79],"representation":[82],"proposed":[84,139],"model":[86],"surface":[88],"mobile":[90],"robots.":[91],"According":[92],"graph":[95],"extracted":[96],"from":[97,107],"improved":[103,123],"searching":[104],"approach":[105,121,141,184,199],"derived":[106],"A*":[108],"algorithm":[109],"presented":[111],"shortest":[114],"planning.":[116],"With":[117],"reasonable":[118],"assumption,":[119],"unknown":[129,176],"Findings":[131],"It":[132],"confirmed":[134],"by":[135],"experiments":[136],"that":[137,161],"problem":[147],"2.5":[153],"maps.":[155],"Furthermore,":[156],"experiment":[158],"results":[159],"demonstrate":[160],"our":[162],"D*":[164],"leads":[166],"more":[168],"dynamic":[170],"Originality/value":[178],"This":[179],"proposes":[181],"map":[189],"used":[192],"represent":[194],"capable":[201],"global":[209],"environmental":[210],"information":[211],"available":[213],"at":[214],"beginning":[216],"exploration.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}