{"id":"https://openalex.org/W4367665998","doi":"https://doi.org/10.1109/access.2023.3272223","title":"APSO: An A*-PSO Hybrid Algorithm for Mobile Robot Path Planning","display_name":"APSO: An A*-PSO Hybrid Algorithm for Mobile Robot Path Planning","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4367665998","doi":"https://doi.org/10.1109/access.2023.3272223"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3272223","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3272223","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10113639.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":null,"license_id":null,"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/ielx7/6287639/10005208/10113639.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006429452","display_name":"Changsheng Huang","orcid":"https://orcid.org/0000-0003-0535-1865"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changsheng Huang","raw_affiliation_strings":["School of Economics and Management, China University of Petroleum (East China), Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Economics and Management, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029798758","display_name":"Yanpu Zhao","orcid":"https://orcid.org/0000-0001-5257-3108"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanpu Zhao","raw_affiliation_strings":["School of Economics and Management, China University of Petroleum (East China), Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0001-5257-3108","affiliations":[{"raw_affiliation_string":"School of Economics and Management, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mengjie Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093776","display_name":"DHC Software (China)","ror":"https://ror.org/00kn8e190","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093776"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengjie Zhang","raw_affiliation_strings":["Dareway Software Company Ltd., Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dareway Software Company Ltd., Jinan, China","institution_ids":["https://openalex.org/I4210093776"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101122236","display_name":"Hongyan Yang","orcid":"https://orcid.org/0000-0002-5916-3897"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyan Yang","raw_affiliation_strings":["School of Economics and Management, China University of Petroleum (East China), Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Economics and Management, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006429452"],"corresponding_institution_ids":["https://openalex.org/I4210162190"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.1384,"has_fulltext":true,"cited_by_count":53,"citation_normalized_percentile":{"value":0.97506225,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"11","issue":null,"first_page":"43238","last_page":"43256"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9894999861717224,"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/T12288","display_name":"Optimization and Search Problems","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/motion-planning","display_name":"Motion planning","score":0.81917405128479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7071301937103271},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6756784915924072},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6067581176757812},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5678355097770691},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5389488339424133},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.519154965877533},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4782925248146057},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4648968279361725},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.45007941126823425},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4445374608039856},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33578842878341675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1926334798336029}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.81917405128479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7071301937103271},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6756784915924072},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6067581176757812},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5678355097770691},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5389488339424133},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.519154965877533},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4782925248146057},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4648968279361725},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.45007941126823425},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4445374608039856},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33578842878341675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1926334798336029},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3272223","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3272223","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10113639.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3833e8be6f2f424dbf8bb07e3f76b438","is_oa":true,"landing_page_url":"https://doaj.org/article/3833e8be6f2f424dbf8bb07e3f76b438","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 11, Pp 43238-43256 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3272223","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3272223","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10113639.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4367665998.pdf","grobid_xml":"https://content.openalex.org/works/W4367665998.grobid-xml"},"referenced_works_count":76,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1969483458","https://openalex.org/W1970320473","https://openalex.org/W1998674867","https://openalex.org/W2003708116","https://openalex.org/W2031183907","https://openalex.org/W2057234102","https://openalex.org/W2061438946","https://openalex.org/W2072955302","https://openalex.org/W2077831477","https://openalex.org/W2108707174","https://openalex.org/W2128990851","https://openalex.org/W2152195021","https://openalex.org/W2162745921","https://openalex.org/W2165299997","https://openalex.org/W2168081761","https://openalex.org/W2168747298","https://openalex.org/W2169528473","https://openalex.org/W2171211995","https://openalex.org/W2175593282","https://openalex.org/W2232317135","https://openalex.org/W2738900493","https://openalex.org/W2895647709","https://openalex.org/W2915246747","https://openalex.org/W2942307437","https://openalex.org/W2948366144","https://openalex.org/W2964980712","https://openalex.org/W3008505905","https://openalex.org/W3012087746","https://openalex.org/W3013599931","https://openalex.org/W3023862153","https://openalex.org/W3029517552","https://openalex.org/W3047584930","https://openalex.org/W3089420797","https://openalex.org/W3092124468","https://openalex.org/W3107253669","https://openalex.org/W3114772654","https://openalex.org/W3122970619","https://openalex.org/W3131359197","https://openalex.org/W3135798356","https://openalex.org/W3139484821","https://openalex.org/W3140133525","https://openalex.org/W3158535530","https://openalex.org/W3160224680","https://openalex.org/W3160747345","https://openalex.org/W3174959966","https://openalex.org/W3187308512","https://openalex.org/W3193604950","https://openalex.org/W3199982239","https://openalex.org/W3201239353","https://openalex.org/W3204476330","https://openalex.org/W3213867688","https://openalex.org/W3217542308","https://openalex.org/W4200050708","https://openalex.org/W4200053348","https://openalex.org/W4205492978","https://openalex.org/W4214576264","https://openalex.org/W4220809527","https://openalex.org/W4220878860","https://openalex.org/W4223418744","https://openalex.org/W4236229482","https://openalex.org/W4250503569","https://openalex.org/W4252684946","https://openalex.org/W4285303526","https://openalex.org/W4287093236","https://openalex.org/W4293237953","https://openalex.org/W4293515231","https://openalex.org/W4294307583","https://openalex.org/W4294693769","https://openalex.org/W4295308546","https://openalex.org/W4303700077","https://openalex.org/W4308888449","https://openalex.org/W4377694071","https://openalex.org/W4391429284","https://openalex.org/W6605295560","https://openalex.org/W6697164153"],"related_works":["https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W1997369033","https://openalex.org/W1957996277","https://openalex.org/W2591763881","https://openalex.org/W2914610299"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,5,42,56,60,65,79,95,101,108,113,130,135,142,152,160,164,176,180,195,203,207],"problems":[3],"of":[4,27,67,82,98,115,134,147,163,206],"A*":[6,35,61,177],"algorithm":[7,33,62,178],"in":[8,127,179,200],"mobile":[9,136,165,208],"robot":[10,137,166],"path":[11,18,25,57,103,148,153,188],"planning,":[12],"such":[13],"as":[14],"multiple":[15],"nodes,":[16],"low":[17],"accuracy,":[19],"long":[20],"running":[21,161],"time":[22,121,162],"and":[23,36,63],"difficult":[24],"initialization":[26],"particle":[28],"swarm":[29],"optimization,":[30],"an":[31],"APSO":[32,156,197],"combining":[34],"PSO":[37,110],"was":[38],"proposed":[39,76,91,196],"to":[40,53,77,92,111,140,191],"calculate":[41],"optimal":[43],"path.":[44],"First,":[45],"a":[46,71,85,119],"redundant":[47],"point":[48],"removal":[49],"strategy":[50,89],"is":[51,75,90,104,125,138,198],"adopted":[52],"preliminarily":[54],"optimize":[55,112],"planned":[58,154],"by":[59,106,155,167],"obtain":[64],"set":[66,114],"key":[68,116],"nodes.":[69,117],"Second,":[70],"stochastic":[72,86],"inertia":[73],"weight":[74],"improve":[78,94],"search":[80,96],"ability":[81,97],"PSO.":[83,99],"Third,":[84],"opposition-based":[87],"learning":[88],"further":[93],"Fourth,":[100],"global":[102],"obtained":[105],"using":[107],"improved":[109],"Fifth,":[118],"motion":[120,132],"objective":[122],"function":[123],"that":[124,151],"more":[126,199],"line":[128,201],"with":[129,175,202],"actual":[131,204],"requirements":[133],"used":[139],"evaluate":[141],"algorithm.":[143],"The":[144],"simulation":[145],"results":[146],"planning":[149,189],"show":[150],"not":[157],"only":[158],"reduces":[159],"17.35%,":[168],"14.84%,":[169],"15.31%,":[170],"15.21%,":[171],"18.97%,":[172],"15.70%":[173],"compared":[174],"six":[181],"environment":[182],"maps":[183],"but":[184],"also":[185],"outperforms":[186],"other":[187],"algorithms":[190],"varying":[192],"degrees.":[193],"Therefore,":[194],"movement":[205],"robot.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":7}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}