{"id":"https://openalex.org/W3196283412","doi":"https://doi.org/10.1109/access.2021.3105960","title":"A Novel Path Planning Algorithm Considering the Maximum Deflection Angle of Joint","display_name":"A Novel Path Planning Algorithm Considering the Maximum Deflection Angle of Joint","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3196283412","doi":"https://doi.org/10.1109/access.2021.3105960","mag":"3196283412"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3105960","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3105960","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09517114.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/ielx7/6287639/9312710/09517114.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046978395","display_name":"Yuping Huang","orcid":"https://orcid.org/0000-0002-2215-5826"},"institutions":[{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuping Huang","raw_affiliation_strings":["Beijing Institute of Precision Mechatronics and Controls, Beijing, China","Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Precision Mechatronics and Controls, Beijing, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072007157","display_name":"Longfei Jia","orcid":"https://orcid.org/0000-0001-5732-1348"},"institutions":[{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longfei Jia","raw_affiliation_strings":["Beijing Institute of Precision Mechatronics and Controls, Beijing, China","Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5732-1348","affiliations":[{"raw_affiliation_string":"Beijing Institute of Precision Mechatronics and Controls, Beijing, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jing Chen","orcid":"https://orcid.org/0000-0002-0241-0551"},"institutions":[{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Chen","raw_affiliation_strings":["Beijing Institute of Precision Mechatronics and Controls, Beijing, China","Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0241-0551","affiliations":[{"raw_affiliation_string":"Beijing Institute of Precision Mechatronics and Controls, Beijing, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103955317","display_name":"Jigui Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jigui Zheng","raw_affiliation_strings":["Beijing Institute of Precision Mechatronics and Controls, Beijing, China","Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Precision Mechatronics and Controls, Beijing, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110804279","display_name":"Yaxing Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaxing Guo","raw_affiliation_strings":["Beijing Institute of Precision Mechatronics and Controls, Beijing, China","Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1065-1635","affiliations":[{"raw_affiliation_string":"Beijing Institute of Precision Mechatronics and Controls, Beijing, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102576720","display_name":"Yunfei Tao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfei Tao","raw_affiliation_strings":["Beijing Institute of Precision Mechatronics and Controls, Beijing, China","Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Precision Mechatronics and Controls, Beijing, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Laboratory of Aerospace Servo Actuation and Transmission, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5046978395"],"corresponding_institution_ids":["https://openalex.org/I4210120144"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.3879,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61050049,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"9","issue":null,"first_page":"115777","last_page":"115787"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9961000084877014,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9948999881744385,"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/deflection","display_name":"Deflection (physics)","score":0.7909688353538513},{"id":"https://openalex.org/keywords/deflection-angle","display_name":"Deflection angle","score":0.7328284978866577},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.6709761619567871},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6057307124137878},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5824796557426453},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5073086619377136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44993850588798523},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4253597557544708},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4217797517776489},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39108794927597046},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.38755181431770325},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32659709453582764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12057632207870483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10978221893310547},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09852007031440735},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08933022618293762},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07268369197845459}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.7909688353538513},{"id":"https://openalex.org/C2991746120","wikidata":"https://www.wikidata.org/wiki/Q210028","display_name":"Deflection angle","level":2,"score":0.7328284978866577},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.6709761619567871},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6057307124137878},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5824796557426453},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5073086619377136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44993850588798523},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4253597557544708},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4217797517776489},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39108794927597046},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38755181431770325},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32659709453582764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12057632207870483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10978221893310547},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09852007031440735},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08933022618293762},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07268369197845459},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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.2021.3105960","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3105960","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09517114.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:227f663fe29c4ea89662b0dc6652d24d","is_oa":true,"landing_page_url":"https://doaj.org/article/227f663fe29c4ea89662b0dc6652d24d","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 115777-115787 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3105960","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3105960","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09517114.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":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3196283412.pdf","grobid_xml":"https://content.openalex.org/works/W3196283412.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1977431861","https://openalex.org/W2050283320","https://openalex.org/W2412393833","https://openalex.org/W2557053319","https://openalex.org/W2561814270","https://openalex.org/W2746418572","https://openalex.org/W2762942257","https://openalex.org/W2780688515","https://openalex.org/W2796419292","https://openalex.org/W2904794628","https://openalex.org/W2957707960","https://openalex.org/W2985821384","https://openalex.org/W3016164434","https://openalex.org/W3019349330","https://openalex.org/W3022788820","https://openalex.org/W3023172493","https://openalex.org/W3029236301","https://openalex.org/W3042497295","https://openalex.org/W3042679033","https://openalex.org/W3125609744","https://openalex.org/W3133408962"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W3043170174","https://openalex.org/W2050548713"],"abstract_inverted_index":{"The":[0,42,92,113],"paper":[1,134],"deals":[2],"with":[3],"a":[4],"minimum":[5,38],"potential":[6,178],"energy":[7],"algorithm":[8,43,63,115,122,174],"considering":[9],"the":[10,23,28,30,34,37,54,58,61,75,78,81,85,89,101,105,110,117,120,125,130,133,140,143,154,159,165,172,176,188,192,197,205,209,215,218,222,226,231,236],"maximum":[11,24,126],"deflection":[12,25,86,102,127,219],"angle":[13,26,87,103,128,220],"of":[14,27,33,50,57,80,88,104,129,145,168,221,235],"joint":[15,223],"(MPE-MDA":[16],"algorithm)":[17],"for":[18,46],"three":[19],"key":[20],"factors":[21],"including":[22],"joint,":[29],"total":[31],"length":[32,79],"path,":[35],"and":[36,72,84,148,151,175,233],"distance":[39,207],"from":[40,208],"obstacles.":[41],"is":[44,184],"applied":[45],"space":[47],"obstacle":[48,210],"avoidance":[49],"hyper-redundant":[51,59],"manipulators.":[52],"On":[53],"path-following":[55,169],"planning":[56,170],"manipulator,":[60],"MPE-MDA":[62,114,173,198],"equates":[64],"one":[65],"link":[66,106],"to":[67,158],"multiple":[68],"virtual":[69],"small":[70,82,90],"links":[71,83],"then":[73,152],"derives":[74],"relationship":[76,98],"between":[77],"links.":[91],"planned":[93,195],"path":[94,146,156,194],"based":[95],"on":[96],"this":[97],"meets":[99],"that":[100,119,186,217],"does":[107],"not":[108,202],"exceed":[109],"limited":[111,227],"angle.":[112],"resolves":[116],"problem":[118],"traditional":[121],"cannot":[123],"limit":[124],"joint.":[131],"Besides,":[132],"checks":[135],"different":[136],"paths":[137],"by":[138,163,196],"changing":[139],"step":[141],"length,":[142],"direction":[144],"planning,":[147],"other":[149],"factors,":[150],"selects":[153],"optimal":[155,193],"according":[157],"evaluation":[160],"function.":[161],"Furthermore,":[162],"comparing":[164],"simulation":[166],"results":[167],"employing":[171],"artificial":[177],"field":[179],"(APF)":[180],"method,":[181],"respectively.":[182],"It":[183],"found":[185],"when":[187],"manipulator":[189],"moves":[190],"along":[191],"algorithm,":[199],"it":[200],"can":[201,213],"only":[203],"keep":[204],"specified":[206],"but":[211],"also":[212],"satisfy":[214],"condition":[216],"never":[224],"exceeds":[225],"range,":[228],"which":[229],"verifies":[230],"reliability":[232],"effectiveness":[234],"algorithm.":[237]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
