{"id":"https://openalex.org/W2997297861","doi":"https://doi.org/10.1109/access.2019.2961167","title":"Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot","display_name":"Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot","publication_year":2019,"publication_date":"2019-12-23","ids":{"openalex":"https://openalex.org/W2997297861","doi":"https://doi.org/10.1109/access.2019.2961167","mag":"2997297861"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2961167","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2961167","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08937839.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/ielx7/6287639/8948470/08937839.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036772974","display_name":"Yaen Xie","orcid":"https://orcid.org/0000-0003-3236-3706"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaen Xie","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-3236-3706","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101721616","display_name":"Zhidan Zhang","orcid":"https://orcid.org/0000-0001-6260-1854"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhidan Zhang","raw_affiliation_strings":["College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-6260-1854","affiliations":[{"raw_affiliation_string":"College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032650845","display_name":"Xiande Wu","orcid":"https://orcid.org/0000-0001-5399-2873"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiande Wu","raw_affiliation_strings":["College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-5399-2873","affiliations":[{"raw_affiliation_string":"College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100769262","display_name":"Zhen Shi","orcid":"https://orcid.org/0000-0002-5701-1849"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Shi","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5701-1849","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100760189","display_name":"Yangyang Chen","orcid":"https://orcid.org/0000-0002-9208-3987"},"institutions":[{"id":"https://openalex.org/I202334528","display_name":"Beijing Electronic Science and Technology Institute","ror":"https://ror.org/01xdzh226","country_code":"CN","type":"education","lineage":["https://openalex.org/I202334528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangyang Chen","raw_affiliation_strings":["Engineering Specialist, Beijing Institute of Electronic System Engineering, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9208-3987","affiliations":[{"raw_affiliation_string":"Engineering Specialist, Beijing Institute of Electronic System Engineering, Beijing, China","institution_ids":["https://openalex.org/I202334528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082993401","display_name":"Baixuan Wu","orcid":"https://orcid.org/0000-0002-7380-8997"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baixuan Wu","raw_affiliation_strings":["College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7380-8997","affiliations":[{"raw_affiliation_string":"College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029411174","display_name":"Kofi Akrofi Mantey","orcid":"https://orcid.org/0000-0003-2048-3903"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kofi Akrofi Mantey","raw_affiliation_strings":["College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2048-3903","affiliations":[{"raw_affiliation_string":"College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"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":33.1235,"has_fulltext":true,"cited_by_count":38,"citation_normalized_percentile":{"value":0.99338707,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"3511","last_page":"3526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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/T10868","display_name":"Soft Robotics and Applications","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8067358732223511},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7763879299163818},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6506708264350891},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6206011772155762},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5965063571929932},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5626381635665894},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5613481998443604},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5434775948524475},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5252867937088013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.524203896522522},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5148507952690125},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4962182641029358},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.45434117317199707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4402262568473816},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4390066862106323},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4232487380504608},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3406029939651489},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29744163155555725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2862306237220764},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.27130126953125},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16254210472106934},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07004368305206299}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8067358732223511},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7763879299163818},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6506708264350891},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6206011772155762},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5965063571929932},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5626381635665894},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5613481998443604},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5434775948524475},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5252867937088013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.524203896522522},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5148507952690125},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4962182641029358},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.45434117317199707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4402262568473816},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4390066862106323},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4232487380504608},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3406029939651489},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29744163155555725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2862306237220764},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.27130126953125},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16254210472106934},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07004368305206299},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2961167","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2961167","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08937839.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:cd565a177e314174817c98f1d38e2544","is_oa":true,"landing_page_url":"https://doaj.org/article/cd565a177e314174817c98f1d38e2544","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 8, Pp 3511-3526 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2961167","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2961167","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08937839.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","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1048083041","display_name":null,"funder_award_id":"D020214","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G2190738300","display_name":null,"funder_award_id":"16XD1421000","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G3630879804","display_name":null,"funder_award_id":"F2017005","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G3873936717","display_name":null,"funder_award_id":"D020214","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4401403064","display_name":null,"funder_award_id":"D020214","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4415883074","display_name":"\u5f02\u6784\u53cc\u661f\u7f16\u961f\u52a8\u529b\u5b66\u4e00\u4f53\u5316\u5efa\u6a21\u4e0e\u534f\u540c\u63a7\u5236\u65b9\u6cd5\u7814\u7a76","funder_award_id":"11772185","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7508800392","display_name":null,"funder_award_id":"HEUCFP201770","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2997297861.pdf","grobid_xml":"https://content.openalex.org/works/W2997297861.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W641959581","https://openalex.org/W1607696993","https://openalex.org/W1978566840","https://openalex.org/W1980337256","https://openalex.org/W1981666508","https://openalex.org/W1984295449","https://openalex.org/W1999165127","https://openalex.org/W2000359213","https://openalex.org/W2002967483","https://openalex.org/W2005872817","https://openalex.org/W2014863553","https://openalex.org/W2025813574","https://openalex.org/W2027078170","https://openalex.org/W2037841262","https://openalex.org/W2040219465","https://openalex.org/W2055850539","https://openalex.org/W2058244961","https://openalex.org/W2058544403","https://openalex.org/W2068027455","https://openalex.org/W2075171938","https://openalex.org/W2090308161","https://openalex.org/W2146097584","https://openalex.org/W2159644044","https://openalex.org/W2181302705","https://openalex.org/W2292618681","https://openalex.org/W2486402301","https://openalex.org/W2540027626","https://openalex.org/W2744301553","https://openalex.org/W2787905382","https://openalex.org/W2793049540","https://openalex.org/W2796076341","https://openalex.org/W2884782475","https://openalex.org/W2891030304","https://openalex.org/W2913476385","https://openalex.org/W4205362845","https://openalex.org/W4232097448","https://openalex.org/W6683903088","https://openalex.org/W6700729416","https://openalex.org/W6750542711","https://openalex.org/W6753856225"],"related_works":["https://openalex.org/W3047523153","https://openalex.org/W4226342200","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W4391529045","https://openalex.org/W4294975949","https://openalex.org/W2172144564","https://openalex.org/W2292471743","https://openalex.org/W2012738552","https://openalex.org/W2146814086"],"abstract_inverted_index":{"An":[0],"obstacle":[1,63,209,241],"avoidance":[2,64,210,242],"and":[3,65,77,80,138,157,166,185,198,211,243],"path":[4,50,66,94,142,212,220,244,256,278],"planning":[5,67,95,213,245,279],"algorithm":[6,68,76,86,96,104,131,163,176,214],"for":[7,107,124,145,168,221,259,277],"a":[8,12,36,48,93,112,116,125,140,193,196,202,218,226,254,264],"multi-joint":[9,109,223,261],"manipulator":[10,27,224,262],"in":[11,17,35,89,225],"space":[13,37,227],"robot":[14],"is":[15,28,59,87,105,122,164,234,248],"presented":[16,88],"this":[18,21,90],"paper.":[19,91],"In":[20],"paper,":[22],"the":[23,26,43,46,52,56,71,78,99,108,135,146,150,155,169,178,207,222,239,251,260,271,274,282],"end-effector":[24],"of":[25,45,152,171,180,273],"used":[29],"to":[30,55,114,237,280],"capture":[31],"some":[32],"special":[33],"target":[34,57],"environment":[38,228],"with":[39,229,263],"obstacles.":[40,230,283],"To":[41,148],"ensure":[42],"safety":[44],"operation,":[47],"collision-free":[49],"from":[51],"initial":[53],"position":[54,58,190],"essential.":[60],"Therefore,":[61,206],"an":[62],"based":[69,97],"on":[70,98,195],"Rapidly-Exploring":[72,100],"Random":[73,101],"Tree":[74,102],"(RRT)":[75,103],"Forward":[79,156],"Backward":[81,158],"Reaching":[82,159],"Inverse":[83,160],"Kinematics":[84,161],"(FABRIK)":[85,162],"First,":[92],"designed":[106],"manipulator.":[110],"Further,":[111],"method":[113,252,276],"generate":[115],"random":[117],"point":[118,194],"by":[119,191],"artificial":[120],"guidance":[121],"introduced":[123,165],"higher":[126],"searching":[127],"speed.":[128],"The":[129,174],"RRT":[130],"can":[132,215],"effectively":[133],"explore":[134],"entire":[136],"workspace":[137],"find":[139],"feasible":[141,219,255],"without":[143,257],"collision":[144,258],"end-effector.":[147],"calculate":[149],"positions":[151],"each":[153,188],"joint,":[154],"improved":[167,208],"problem":[170],"inverse":[172],"kinematics.":[173],"FABRIK":[175],"avoids":[177],"use":[179],"rotational":[181],"angles":[182],"or":[183],"matrices,":[184],"instead":[186],"finds":[187,253],"joint":[189],"locating":[192],"line,":[197],"thus,":[199],"it":[200],"has":[201],"low":[203,265],"computational":[204,266],"cost.":[205,267],"quickly":[216],"plan":[217],"A":[231],"numerical":[232],"simulation":[233],"carried":[235],"out":[236],"analyze":[238],"proposed":[240,275],"method.":[246],"It":[247],"observed":[249],"that":[250],"These":[268],"results":[269],"validated":[270],"effectiveness":[272],"avoid":[281]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
