{"id":"https://openalex.org/W2164801870","doi":"https://doi.org/10.1108/03684921011046708","title":"A study of improvement of D* algorithms for mobile robot path planning in partial unknown environments","display_name":"A study of improvement of D* algorithms for mobile robot path planning in partial unknown environments","publication_year":2010,"publication_date":"2010-06-15","ids":{"openalex":"https://openalex.org/W2164801870","doi":"https://doi.org/10.1108/03684921011046708","mag":"2164801870"},"language":"en","primary_location":{"id":"doi:10.1108/03684921011046708","is_oa":false,"landing_page_url":"https://doi.org/10.1108/03684921011046708","pdf_url":null,"source":{"id":"https://openalex.org/S168682784","display_name":"Kybernetes","issn_l":"0368-492X","issn":["0368-492X","1758-7883"],"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":"Kybernetes","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/A5002890728","display_name":"Jianming Guo","orcid":"https://orcid.org/0000-0002-7012-9542"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianming Guo","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005298264","display_name":"Liang Liu","orcid":"https://orcid.org/0000-0002-4903-2666"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Liu","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5002890728"],"corresponding_institution_ids":["https://openalex.org/I196699116"],"apc_list":null,"apc_paid":null,"fwci":1.5936,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.85717265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"39","issue":"6","first_page":"935","last_page":"945"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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/T12288","display_name":"Optimization and Search Problems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.8077451586723328},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7034890055656433},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6839618682861328},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.6616222858428955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6462430953979492},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.615899920463562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5907014608383179},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5906708240509033},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5864555239677429},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4907008409500122},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45567402243614197},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40962135791778564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1813940405845642}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8077451586723328},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7034890055656433},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6839618682861328},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.6616222858428955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462430953979492},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.615899920463562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5907014608383179},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5906708240509033},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5864555239677429},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4907008409500122},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45567402243614197},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40962135791778564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1813940405845642},{"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:10.1108/03684921011046708","is_oa":false,"landing_page_url":"https://doi.org/10.1108/03684921011046708","pdf_url":null,"source":{"id":"https://openalex.org/S168682784","display_name":"Kybernetes","issn_l":"0368-492X","issn":["0368-492X","1758-7883"],"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":"Kybernetes","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":13,"referenced_works":["https://openalex.org/W1967249758","https://openalex.org/W2003708116","https://openalex.org/W2016894119","https://openalex.org/W2029456705","https://openalex.org/W2034509708","https://openalex.org/W2035800828","https://openalex.org/W2099144379","https://openalex.org/W2113256452","https://openalex.org/W2145089737","https://openalex.org/W2163502413","https://openalex.org/W2384391713","https://openalex.org/W2390262015","https://openalex.org/W4236251699"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2007857089","https://openalex.org/W1968077635"],"abstract_inverted_index":{"Purpose":[0],"The":[1,43,76,143,152],"purpose":[2],"of":[3,32,88,131],"this":[4],"paper":[5],"is":[6,38,46,82,91,98,105,112,156],"to":[7,74],"improve":[8],"the":[9,30,50,57,66,69,85,94,101,115,123,168,173],"D*":[10,52,103,136,154,170],"algorithm":[11,53,104,155,171],"which":[12],"has":[13],"been":[14],"used":[15],"usually":[16],"in":[17,23,40,56,61,107,122,127,148,162],"robotics":[18],"for":[19,138],"mobile":[20,117],"robot":[21,67,77,95],"navigation":[22],"unknown":[24],"or":[25],"dynamic":[26],"environments.":[27],"Design/methodology/approach":[28],"First,":[29],"model":[31],"2D":[33],"workspace":[34],"with":[35],"some":[36],"obstacles":[37],"expressed":[39,147],"regularity":[41,149],"grids.":[42,150],"optimal":[44],"path":[45,89,97,139,166],"planned":[47],"by":[48,54,114,134],"using":[49,135],"improved":[51,102,153],"searching":[55],"neighbor":[58,124],"grid":[59,125],"cells":[60,126],"16":[62,128],"directions.":[63],"It":[64],"makes":[65],"that":[68],"smallest":[70],"turning":[71],"angle":[72,79],"drops":[73],"\u03c0/8.":[75],"moving":[78],"discrete":[80],"precision":[81],"raised":[83],"and":[84,111,158],"unnecessary":[86],"cost":[87],"planning":[90],"reduced":[92],"so":[93],"motion":[96],"smoother.":[99],"Then,":[100],"simulated":[106],"MOBOTSIM":[108],"software":[109],"environment":[110],"tested":[113],"WiRobotX80":[116],"robot.":[118],"Findings":[119],"To":[120],"search":[121],"directions":[129,133],"instead":[130],"eight":[132],"algorithms":[137],"planning.":[140],"Research":[141],"limitations/implications":[142],"map":[144,175],"should":[145],"be":[146],"Originality/value":[151],"effective":[157],"it":[159],"can":[160],"result":[161],"a":[163],"higher":[164],"quality":[165],"than":[167],"conventional":[169],"at":[172],"same":[174],"environment.":[176]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}