{"id":"https://openalex.org/W2979290707","doi":"https://doi.org/10.1109/access.2019.2941537","title":"A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments","display_name":"A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2979290707","doi":"https://doi.org/10.1109/access.2019.2941537","mag":"2979290707"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2941537","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2941537","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08839099.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08839099.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031477910","display_name":"Kai Mi","orcid":"https://orcid.org/0000-0001-5075-2209"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Mi","raw_affiliation_strings":["School of Computer Science and Technology, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5075-2209","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108063890","display_name":"Jun Zheng","orcid":"https://orcid.org/0000-0001-6727-5867"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Zheng","raw_affiliation_strings":["Intelligent Manufacturing Technology and System Research Center, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Manufacturing Technology and System Research Center, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030760502","display_name":"Yunkuan Wang","orcid":"https://orcid.org/0000-0003-1015-8381"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunkuan Wang","raw_affiliation_strings":["Intelligent Manufacturing Technology and System Research Center, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Manufacturing Technology and System Research Center, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100781688","display_name":"Jianhua Hu","orcid":"https://orcid.org/0000-0002-3306-6722"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Hu","raw_affiliation_strings":["Intelligent Manufacturing Technology and System Research Center, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Manufacturing Technology and System Research Center, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7958,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.73811823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"135870","last_page":"135881"},"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":0.9927999973297119,"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":0.9872000217437744,"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/heuristics","display_name":"Heuristics","score":0.860625147819519},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.7509098052978516},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.676681637763977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6249842047691345},{"id":"https://openalex.org/keywords/null-move-heuristic","display_name":"Null-move heuristic","score":0.5476459860801697},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.546362578868866},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5432958602905273},{"id":"https://openalex.org/keywords/consistent-heuristic","display_name":"Consistent heuristic","score":0.5362211465835571},{"id":"https://openalex.org/keywords/incremental-heuristic-search","display_name":"Incremental heuristic search","score":0.5215242505073547},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5035380721092224},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45220398902893066},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.43688175082206726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3469547629356384},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.2655637860298157},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21371978521347046},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.16283270716667175},{"id":"https://openalex.org/keywords/beam-search","display_name":"Beam search","score":0.0991184413433075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07556748390197754}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.860625147819519},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.7509098052978516},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.676681637763977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6249842047691345},{"id":"https://openalex.org/C114290370","wikidata":"https://www.wikidata.org/wiki/Q1415915","display_name":"Null-move heuristic","level":3,"score":0.5476459860801697},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.546362578868866},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5432958602905273},{"id":"https://openalex.org/C200246849","wikidata":"https://www.wikidata.org/wiki/Q5163226","display_name":"Consistent heuristic","level":5,"score":0.5362211465835571},{"id":"https://openalex.org/C139979381","wikidata":"https://www.wikidata.org/wiki/Q17056021","display_name":"Incremental heuristic search","level":4,"score":0.5215242505073547},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5035380721092224},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45220398902893066},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43688175082206726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3469547629356384},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.2655637860298157},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21371978521347046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.16283270716667175},{"id":"https://openalex.org/C19889080","wikidata":"https://www.wikidata.org/wiki/Q2835852","display_name":"Beam search","level":3,"score":0.0991184413433075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07556748390197754},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2941537","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2941537","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08839099.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:053b166e1523448ab83f59e0a050e7ec","is_oa":true,"landing_page_url":"https://doaj.org/article/053b166e1523448ab83f59e0a050e7ec","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 135870-135881 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2941537","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2941537","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08839099.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2979290707.pdf","grobid_xml":"https://content.openalex.org/works/W2979290707.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1140243306","https://openalex.org/W1910303475","https://openalex.org/W1935926926","https://openalex.org/W1967414611","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2009812633","https://openalex.org/W2016930536","https://openalex.org/W2019965290","https://openalex.org/W2032102882","https://openalex.org/W2035601288","https://openalex.org/W2086860466","https://openalex.org/W2098029503","https://openalex.org/W2099893201","https://openalex.org/W2110144538","https://openalex.org/W2110762409","https://openalex.org/W2116966230","https://openalex.org/W2119562960","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2143826757","https://openalex.org/W2164276476","https://openalex.org/W2177274602","https://openalex.org/W2293883387","https://openalex.org/W2412669390","https://openalex.org/W2419216244","https://openalex.org/W2736887377","https://openalex.org/W2738024282","https://openalex.org/W2743927437","https://openalex.org/W2877466430","https://openalex.org/W2905251894","https://openalex.org/W2963719271","https://openalex.org/W3102334304","https://openalex.org/W6605295560","https://openalex.org/W6639959095","https://openalex.org/W6674443108"],"related_works":["https://openalex.org/W2617599361","https://openalex.org/W2733854862","https://openalex.org/W3146338492","https://openalex.org/W1140243306","https://openalex.org/W2759607370","https://openalex.org/W1516094562","https://openalex.org/W3037402572","https://openalex.org/W3082334231","https://openalex.org/W23098712","https://openalex.org/W836555340"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,34,42,54,67,79,85,101,109,120,122,137,141,146],"problem":[3,43],"of":[4,44],"planning":[5,147,150],"an":[6],"obstacle":[7],"avoidance":[8],"path":[9],"for":[10,29,96],"manipulators":[11],"in":[12,75,153],"cluttered":[13],"environments":[14,31],"especially":[15],"with":[16],"narrow":[17],"passages.":[18],"Compared":[19],"to":[20,33,40,77,83,115],"sampling-based":[21],"planners,":[22],"heuristic":[23,36,50,69],"search-based":[24],"planners":[25],"are":[26,133],"more":[27],"suitable":[28],"such":[30],"due":[32],"consistent":[35,68],"guidance.":[37],"In":[38],"order":[39,76],"solve":[41],"search":[45,86],"stagnation":[46,94],"caused":[47],"by":[48,91],"inappropriate":[49],"guidance,":[51],"we":[52,88],"use":[53],"Shared":[55],"Multi-Heuristic":[56],"A*":[57],"(SMHA*)":[58],"algorithm":[59,103,110,143],"and":[60,73,100,136,149],"predefine":[61],"multiple":[62,130],"inadmissible":[63,81,124],"heuristics.":[64],"Meanwhile,":[65],"when":[66,108],"guidance":[70],"is":[71,104],"correct":[72],"appropriate,":[74],"avoid":[78],"unnecessary":[80],"heuristics":[82,125],"increase":[84],"burden,":[87],"improve":[89],"it":[90,113],"adding":[92],"heuristic-based":[93],"detection":[95],"each":[97],"extended":[98],"node":[99],"improved":[102,142],"called":[105],"SD-SMHA*.":[106],"Only":[107],"detects":[111],"that":[112,140],"ceases":[114],"make":[116],"significant":[117],"progress":[118],"towards":[119],"goal,":[121],"predefined":[123],"will":[126],"be":[127],"introduced.":[128],"Finally,":[129],"simulation":[131],"experiments":[132],"carried":[134],"out":[135],"results":[138],"show":[139],"effectively":[144],"improves":[145],"efficiency":[148],"success":[151],"rate":[152],"different":[154],"scenarios.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2019-10-10T00:00:00"}
