{"id":"https://openalex.org/W3126834919","doi":"https://doi.org/10.1109/access.2021.3055231","title":"A Dynamic Fusion Pathfinding Algorithm Using Delaunay Triangulation and Improved A-Star for Mobile Robots","display_name":"A Dynamic Fusion Pathfinding Algorithm Using Delaunay Triangulation and Improved A-Star for Mobile Robots","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3126834919","doi":"https://doi.org/10.1109/access.2021.3055231","mag":"3126834919"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3055231","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3055231","pdf_url":null,"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://doi.org/10.1109/access.2021.3055231","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100753010","display_name":"Zhihai Liu","orcid":"https://orcid.org/0000-0003-0764-4282"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihai Liu","raw_affiliation_strings":["College of Transportation, Shandong University of Science and Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0003-0764-4282","affiliations":[{"raw_affiliation_string":"College of Transportation, Shandong University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103259428","display_name":"Hanbin Liu","orcid":"https://orcid.org/0000-0002-4745-1832"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanbin Liu","raw_affiliation_strings":["College of Transportation, Shandong University of Science and Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0002-4745-1832","affiliations":[{"raw_affiliation_string":"College of Transportation, Shandong University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087133779","display_name":"Zhenguo Lu","orcid":"https://orcid.org/0000-0003-4754-7313"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenguo Lu","raw_affiliation_strings":["College of Transportation, Shandong University of Science and Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0003-4754-7313","affiliations":[{"raw_affiliation_string":"College of Transportation, Shandong University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000591358","display_name":"Qingliang Zeng","orcid":"https://orcid.org/0000-0002-3842-9107"},"institutions":[{"id":"https://openalex.org/I28006308","display_name":"Shandong Normal University","ror":"https://ror.org/01wy3h363","country_code":"CN","type":"education","lineage":["https://openalex.org/I28006308"]},{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingliang Zeng","raw_affiliation_strings":["College of Information Science and Engineering, Shandong Normal University, Jinan, China","College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0002-3842-9107","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Shandong Normal University, Jinan, China","institution_ids":["https://openalex.org/I28006308"]},{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China","institution_ids":["https://openalex.org/I80143920"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":7.2769,"has_fulltext":false,"cited_by_count":104,"citation_normalized_percentile":{"value":0.97971,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"20602","last_page":"20621"},"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":0.995199978351593,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.96670001745224,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/pathfinding","display_name":"Pathfinding","score":0.9538322687149048},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7287648916244507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7238351702690125},{"id":"https://openalex.org/keywords/delaunay-triangulation","display_name":"Delaunay triangulation","score":0.7082407474517822},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5993623733520508},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5767636299133301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49034738540649414},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.4634096324443817},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43792515993118286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43627631664276123},{"id":"https://openalex.org/keywords/bowyer\u2013watson-algorithm","display_name":"Bowyer\u2013Watson algorithm","score":0.42924806475639343},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4040203094482422},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.26926499605178833},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1282476782798767},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12771472334861755}],"concepts":[{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.9538322687149048},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7287648916244507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7238351702690125},{"id":"https://openalex.org/C68010082","wikidata":"https://www.wikidata.org/wiki/Q192445","display_name":"Delaunay triangulation","level":2,"score":0.7082407474517822},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5993623733520508},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5767636299133301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49034738540649414},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.4634096324443817},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43792515993118286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43627631664276123},{"id":"https://openalex.org/C121198538","wikidata":"https://www.wikidata.org/wiki/Q4951461","display_name":"Bowyer\u2013Watson algorithm","level":3,"score":0.42924806475639343},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4040203094482422},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.26926499605178833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1282476782798767},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12771472334861755},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3055231","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3055231","pdf_url":null,"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:ade6bc7eedf3463596f5cd4ed958a350","is_oa":true,"landing_page_url":"https://doaj.org/article/ade6bc7eedf3463596f5cd4ed958a350","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 9, Pp 20602-20621 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3055231","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3055231","pdf_url":null,"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":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5}],"awards":[{"id":"https://openalex.org/G2731427658","display_name":"\u57fa\u4e8e\u5c3e\u6881\u632f\u52a8\u4fe1\u53f7\u7684\u653e\u9876\u7164\u7164\u77f8\u8bc6\u522b\u6280\u672f\u7814\u7a76","funder_award_id":"51674155","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3951047795","display_name":null,"funder_award_id":"IRT_16R45","funder_id":"https://openalex.org/F4320321106","funder_display_name":"Ministry of Education of the People's Republic of China"},{"id":"https://openalex.org/G7419887810","display_name":null,"funder_award_id":"2019SDZY01","funder_id":"https://openalex.org/F4320333596","funder_display_name":"Key Technology Research and Development Program of Shandong"},{"id":"https://openalex.org/G8706046159","display_name":null,"funder_award_id":"2019GGX104048","funder_id":"https://openalex.org/F4320333596","funder_display_name":"Key Technology Research and Development Program of Shandong"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321106","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934"},{"id":"https://openalex.org/F4320333596","display_name":"Key Technology Research and Development Program of Shandong","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W571818863","https://openalex.org/W1969483458","https://openalex.org/W1970276631","https://openalex.org/W1971086298","https://openalex.org/W1971639106","https://openalex.org/W2006710186","https://openalex.org/W2012680538","https://openalex.org/W2015810521","https://openalex.org/W2032114043","https://openalex.org/W2040555779","https://openalex.org/W2095202810","https://openalex.org/W2116772004","https://openalex.org/W2145053972","https://openalex.org/W2175593282","https://openalex.org/W2397164792","https://openalex.org/W2524886531","https://openalex.org/W2586687062","https://openalex.org/W2746418572","https://openalex.org/W2790544020","https://openalex.org/W2799820594","https://openalex.org/W2804992076","https://openalex.org/W2808295444","https://openalex.org/W2899975947","https://openalex.org/W2904794628","https://openalex.org/W2911283711","https://openalex.org/W2911583451","https://openalex.org/W2954066513","https://openalex.org/W2954808567","https://openalex.org/W2971167581","https://openalex.org/W2987242226","https://openalex.org/W2990235102","https://openalex.org/W2990612781","https://openalex.org/W2998786991","https://openalex.org/W3006291213","https://openalex.org/W3016164434","https://openalex.org/W3023874262","https://openalex.org/W3024854194"],"related_works":["https://openalex.org/W2396796996","https://openalex.org/W2088434112","https://openalex.org/W1529719486","https://openalex.org/W2371448287","https://openalex.org/W2358109229","https://openalex.org/W1481755670","https://openalex.org/W2354869996","https://openalex.org/W2206755844","https://openalex.org/W431872879","https://openalex.org/W2359751290"],"abstract_inverted_index":{"Although":[0],"many":[1,15],"studies":[2],"exist":[3],"on":[4,109],"mobile":[5,46,123,187],"robot":[6,47,85],"path":[7,16,48,94,120,183,192],"planning,":[8,49],"the":[9,29,43,50,71,88,97,119,130,136,139,145,155,159,169,181,186,189,195,203],"disadvantages":[10],"of":[11,31,45,70,122,138,167,185,191,197,206],"complex":[12,58],"algorithms":[13],"and":[14,21,35,60,92,112,141,165,173,194,201,216,230],"nodes":[17,95],"in":[18,177],"logistics":[19],"warehouses":[20],"manufacturing":[22],"workshops":[23],"are":[24],"obvious,":[25],"mainly":[26],"due":[27],"to":[28,41,56,75,79,133,143],"inconsistency":[30],"map":[32,170,213],"environment":[33,157],"construction":[34,171,214],"pathfinding":[36,65,105,174,217],"strategies.":[37],"In":[38],"this":[39,178],"study,":[40],"improve":[42],"efficiency":[44],"Delaunay":[51,110],"triangulation":[52,111],"algorithm":[53,106,146],"was":[54,73,115,127],"used":[55,74,96,128],"process":[57],"obstacles":[59],"generate":[61],"Voronoi":[62],"points":[63],"as":[64,129],"priority":[66,91],"nodes.":[67],"The":[68,102,150,210],"concept":[69],"grid":[72],"extract":[76],"obstacle":[77,81],"edges":[78],"provide":[80],"avoidance":[82],"strategies":[83],"for":[84,90,223],"pathfinding.":[86],"Subsequently,":[87],"search":[89],"regular":[93],"improved":[98,113],"A-star":[99],"(A*)":[100],"algorithm.":[101],"dynamic":[103,212],"fusion":[104],"(DFPA),":[107],"based":[108],"A*,":[114],"designed,":[116],"which":[117],"realizes":[118],"planning":[121],"robots.":[124],"MATLAB":[125],"2016a":[126],"simulation":[131],"software,":[132],"firstly":[134],"verify":[135],"correctness":[137],"DFPA,":[140],"then":[142],"compare":[144],"with":[147,158],"other":[148],"methods.":[149],"results":[151],"show":[152],"that":[153],"under":[154],"experimental":[156],"same":[160],"start":[161],"point,":[162,164],"goal":[163],"number":[166,190],"obstacles,":[168],"method":[172,215],"strategy":[175,218],"proposed":[176],"paper":[179],"reduce":[180],"planned":[182],"length":[184],"robot,":[188],"nodes,":[193],"cost":[196],"overall":[198],"turn":[199],"consumption,":[200],"increase":[202],"success":[204],"rate":[205],"obtaining":[207],"a":[208],"path.":[209],"new":[211],"have":[219],"important":[220],"reference":[221],"significance":[222],"processing":[224],"chaotic":[225],"maps,":[226],"promoting":[227],"intelligent":[228],"navigation,":[229],"site":[231],"selection":[232],"planning.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}