{"id":"https://openalex.org/W3023967231","doi":"https://doi.org/10.1109/access.2020.2991076","title":"A Novel Path Planning Algorithm for Warehouse Robots Based on a Two-Dimensional Grid Model","display_name":"A Novel Path Planning Algorithm for Warehouse Robots Based on a Two-Dimensional Grid Model","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3023967231","doi":"https://doi.org/10.1109/access.2020.2991076","mag":"3023967231"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2991076","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2991076","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09079867.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/ielx7/6287639/8948470/09079867.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101848567","display_name":"Bo Yang","orcid":"https://orcid.org/0009-0000-7059-7912"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["School of Mathematics Sciences, Shanxi University, Taiyuan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics Sciences, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451378","display_name":"Wentao Li","orcid":"https://orcid.org/0000-0001-7058-4951"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Li","raw_affiliation_strings":["School of Mathematics Sciences, Shanxi University, Taiyuan, China"],"raw_orcid":"https://orcid.org/0000-0001-7058-4951","affiliations":[{"raw_affiliation_string":"School of Mathematics Sciences, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102003656","display_name":"Jianrong Wang","orcid":"https://orcid.org/0000-0002-3930-7275"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianrong Wang","raw_affiliation_strings":["School of Mathematics Sciences, Shanxi University, Taiyuan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics Sciences, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010688581","display_name":"Jingjie Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjie Yang","raw_affiliation_strings":["School of Mathematics Sciences, Shanxi University, Taiyuan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics Sciences, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100423076","display_name":"Tiantian Wang","orcid":"https://orcid.org/0000-0003-2352-5611"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Wang","raw_affiliation_strings":["School of Mathematics Sciences, Shanxi University, Taiyuan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics Sciences, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100694372","display_name":"Xin Liu","orcid":"https://orcid.org/0000-0003-0088-9818"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Liu","raw_affiliation_strings":["School of Mathematics Sciences, Shanxi University, Taiyuan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics Sciences, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I181877577"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.5333,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.85059295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"80347","last_page":"80357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9732999801635742,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6787595748901367},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6474612951278687},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.6201077103614807},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.6199620962142944},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.615700900554657},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.6042721271514893},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5619436502456665},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.5608070492744446},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5347921252250671},{"id":"https://openalex.org/keywords/yens-algorithm","display_name":"Yen's algorithm","score":0.5341464877128601},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5142173767089844},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.499286413192749},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.48104336857795715},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.43987587094306946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4280426502227783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2235192060470581},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.21215298771858215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19814279675483704},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1547759473323822},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.07746100425720215}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6787595748901367},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474612951278687},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6201077103614807},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.6199620962142944},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.615700900554657},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.6042721271514893},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5619436502456665},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.5608070492744446},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5347921252250671},{"id":"https://openalex.org/C119971455","wikidata":"https://www.wikidata.org/wiki/Q8052172","display_name":"Yen's algorithm","level":5,"score":0.5341464877128601},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5142173767089844},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.499286413192749},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.48104336857795715},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.43987587094306946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4280426502227783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2235192060470581},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.21215298771858215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19814279675483704},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1547759473323822},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.07746100425720215},{"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2991076","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2991076","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09079867.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:aae335a1e23c42379793a5dc7995662b","is_oa":true,"landing_page_url":"https://doaj.org/article/aae335a1e23c42379793a5dc7995662b","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 80347-80357 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2991076","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2991076","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09079867.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":[],"awards":[{"id":"https://openalex.org/G1576304666","display_name":null,"funder_award_id":"201801D221171","funder_id":"https://openalex.org/F4320322666","funder_display_name":"Natural Science Foundation of Shanxi Province"},{"id":"https://openalex.org/G1929290224","display_name":null,"funder_award_id":"61403240","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3985572536","display_name":null,"funder_award_id":"U1610116","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322666","display_name":"Natural Science Foundation of Shanxi Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3023967231.pdf","grobid_xml":"https://content.openalex.org/works/W3023967231.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1969472392","https://openalex.org/W1982100856","https://openalex.org/W2058107562","https://openalex.org/W2145602088","https://openalex.org/W2192308205","https://openalex.org/W2387231897","https://openalex.org/W2417637069","https://openalex.org/W2534986651","https://openalex.org/W2618275389","https://openalex.org/W2770649262","https://openalex.org/W2791860092","https://openalex.org/W2824973528","https://openalex.org/W2883350701","https://openalex.org/W2884818211","https://openalex.org/W2887439418","https://openalex.org/W2898165977","https://openalex.org/W2902841061","https://openalex.org/W2906415336","https://openalex.org/W2935623401","https://openalex.org/W2941406856","https://openalex.org/W2965379271","https://openalex.org/W2970226842","https://openalex.org/W2970488181","https://openalex.org/W2979454253","https://openalex.org/W2996849375","https://openalex.org/W2999383632","https://openalex.org/W3005383506"],"related_works":["https://openalex.org/W2387183659","https://openalex.org/W2393078365","https://openalex.org/W2894757447","https://openalex.org/W2347414642","https://openalex.org/W4281401204","https://openalex.org/W1998787973","https://openalex.org/W4319598392","https://openalex.org/W2004837674","https://openalex.org/W3081419785","https://openalex.org/W2140996842"],"abstract_inverted_index":{"In":[0],"this":[1,37],"paper,":[2],"the":[3,44,60,69,82,101,111,135],"path":[4,20,71,94,140],"planning":[5,21,95],"problem":[6,16],"of":[7,39,103,106],"goods":[8,75],"transportation":[9],"is":[10,33,65],"formulated":[11],"as":[12,49],"a":[13,28,50,56],"traveling":[14],"salesman":[15],"(TSP).":[17],"A":[18],"novel":[19],"algorithm":[22,127,131],"for":[23],"warehouse":[24,48],"robots":[25],"based":[26],"on":[27],"two-dimensional":[29],"(2D)":[30],"grid":[31,53],"model":[32],"proposed":[34,130],"to":[35,67,72,109],"solve":[36],"type":[38,47],"TSP.":[40],"Firstly,":[41],"we":[42,99],"simplified":[43],"traditional":[45],"pile":[46],"node-based":[51],"2D":[52],"model.":[54],"Then,":[55],"new":[57],"concept":[58],"called":[59],"largest":[61],"convex":[62],"polygon":[63],"(LCP)":[64],"introduced":[66],"illustrate":[68],"shortest":[70],"traverse":[73],"all":[74],"locations":[76,84,108],"in":[77],"an":[78],"ideal":[79],"condition.":[80],"Next,":[81],"remaining":[83],"are":[85],"classified":[86],"by":[87],"their":[88],"relationship":[89],"with":[90,120],"LCP":[91],"and":[92,125,138],"designed":[93],"rules":[96],"separately.":[97],"Finally,":[98],"merged":[100],"paths":[102],"different":[104],"types":[105],"cargo":[107],"get":[110],"final":[112],"path.":[113],"The":[114],"experimental":[115],"results":[116],"show":[117],"that,":[118],"compared":[119],"ant":[121],"colony":[122],"optimization":[123],"(ACO)":[124],"genetic":[126],"(GA),":[128],"our":[129],"could":[132],"effectively":[133],"reduce":[134],"computation":[136],"time":[137],"total":[139],"length.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}