{"id":"https://openalex.org/W4386523349","doi":"https://doi.org/10.1109/access.2023.3312763","title":"Obstacle Avoidance Path Planning for Apple Picking Robotic Arm Incorporating Artificial Potential Field and A<sup>*</sup> Algorithm","display_name":"Obstacle Avoidance Path Planning for Apple Picking Robotic Arm Incorporating Artificial Potential Field and A<sup>*</sup> Algorithm","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386523349","doi":"https://doi.org/10.1109/access.2023.3312763"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3312763","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3312763","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10243020.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/ielx7/6287639/10005208/10243020.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088812164","display_name":"M. Zhuang","orcid":"https://orcid.org/0009-0000-0472-3773"},"institutions":[{"id":"https://openalex.org/I4210132079","display_name":"Hangzhou Wanxiang Polytechnic","ror":"https://ror.org/03sxnxp24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210132079"]},{"id":"https://openalex.org/I91538806","display_name":"King Mongkut's Institute of Technology Ladkrabang","ror":"https://ror.org/055mf0v62","country_code":"TH","type":"education","lineage":["https://openalex.org/I91538806"]}],"countries":["CN","TH"],"is_corresponding":false,"raw_author_name":"Min Zhuang","raw_affiliation_strings":["School of Intelligent Manufacturing, Hangzhou Polytechnic, Hangzhou, China","College of Advanced Manufacturing Innovation (AMI), King Mongkut's Institute of Technology Ladkrabang (KMITL), Bangkok, Thailand"],"raw_orcid":"https://orcid.org/0009-0000-0472-3773","affiliations":[{"raw_affiliation_string":"School of Intelligent Manufacturing, Hangzhou Polytechnic, Hangzhou, China","institution_ids":["https://openalex.org/I4210132079"]},{"raw_affiliation_string":"College of Advanced Manufacturing Innovation (AMI), King Mongkut's Institute of Technology Ladkrabang (KMITL), Bangkok, Thailand","institution_ids":["https://openalex.org/I91538806"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100447691","display_name":"Ge Li","orcid":"https://orcid.org/0000-0003-0140-0949"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ge Li","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054237239","display_name":"Kexin Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132079","display_name":"Hangzhou Wanxiang Polytechnic","ror":"https://ror.org/03sxnxp24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210132079"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kexin Ding","raw_affiliation_strings":["School of Intelligent Manufacturing, Hangzhou Polytechnic, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Manufacturing, Hangzhou Polytechnic, Hangzhou, China","institution_ids":["https://openalex.org/I4210132079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"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":4.1979,"has_fulltext":true,"cited_by_count":43,"citation_normalized_percentile":{"value":0.95722776,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"11","issue":null,"first_page":"100070","last_page":"100082"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9836999773979187,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9825999736785889,"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/motion-planning","display_name":"Motion planning","score":0.7927923202514648},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7425599098205566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6177178025245667},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5711687207221985},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5561578273773193},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5516011118888855},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4978299140930176},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45809394121170044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43903228640556335},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4329655170440674},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.42511457204818726},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33542847633361816},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2768801152706146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2656858265399933}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7927923202514648},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7425599098205566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6177178025245667},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5711687207221985},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5561578273773193},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5516011118888855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4978299140930176},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45809394121170044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43903228640556335},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4329655170440674},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.42511457204818726},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33542847633361816},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2768801152706146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2656858265399933},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3312763","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3312763","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10243020.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:3228c4603f444ef1922f62ae0cf02f5f","is_oa":true,"landing_page_url":"https://doaj.org/article/3228c4603f444ef1922f62ae0cf02f5f","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 100070-100082 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3312763","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3312763","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10243020.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":[{"id":"https://openalex.org/G5201362982","display_name":null,"funder_award_id":"FX2018140","funder_id":"https://openalex.org/F4320322927","funder_display_name":"Zhejiang University"},{"id":"https://openalex.org/G5577934505","display_name":null,"funder_award_id":"51375459","funder_id":"https://openalex.org/F4320322927","funder_display_name":"Zhejiang University"},{"id":"https://openalex.org/G6391983234","display_name":null,"funder_award_id":"51375459","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7850364807","display_name":null,"funder_award_id":"FX2018140","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/F4320322927","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386523349.pdf","grobid_xml":"https://content.openalex.org/works/W4386523349.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W2947525982","https://openalex.org/W2971675682","https://openalex.org/W2978145949","https://openalex.org/W2985167824","https://openalex.org/W2998967952","https://openalex.org/W3005148879","https://openalex.org/W3005700438","https://openalex.org/W3005857097","https://openalex.org/W3008505905","https://openalex.org/W3011315990","https://openalex.org/W3027162401","https://openalex.org/W3031017146","https://openalex.org/W3037196269","https://openalex.org/W3091736717","https://openalex.org/W3092226912","https://openalex.org/W3111958922","https://openalex.org/W3112908065","https://openalex.org/W3134336976","https://openalex.org/W3142003288","https://openalex.org/W3154668081","https://openalex.org/W3155293607","https://openalex.org/W3188361370","https://openalex.org/W3205713124","https://openalex.org/W3206987089","https://openalex.org/W4221042513"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691","https://openalex.org/W3043170174","https://openalex.org/W2050548713"],"abstract_inverted_index":{"With":[0],"the":[1,6,25,42,54,61,66,73,83,87,90,102,105,108,113,128,132,140,143,146,163,166,170,176,183,187,195,197,201,206,210,220,223,227,230,234,243,248,262,276,284,306,335],"development":[2],"and":[3,11,64,148,175,189,233,239,260,272,318,326],"maturity":[4],"of":[5,57,68,75,86,104,107,112,145,226,339],"automated":[7,17],"robotics":[8],"industry,":[9],"more":[10,12,327],"apple":[13,30,340],"plantations":[14],"are":[15],"introducing":[16],"picking":[18,44,341],"robotic":[19,313],"arms":[20],"for":[21,333],"fruit":[22,31],"picking.":[23],"However,":[24],"complex":[26],"environment":[27],"in":[28,117,162,253],"which":[29],"is":[32,135,309],"picked":[33],"has":[34,268],"made":[35],"it":[36,93,95],"an":[37],"urgent":[38],"problem":[39],"to":[40,80,99,119,137,186,209,217,274,288,312],"optimise":[41],"robot\u2019s":[43],"performance":[45],"through":[46,155,279],"obstacle":[47,109,152,265,293,321],"avoidance":[48,110,153,266,294,316,322],"path":[49,84,111,129,267,295,315,323,336],"planning.":[50],"The":[51,158,301],"experiment":[52],"selects":[53],"Six":[55],"degrees":[56],"freedom":[58],"manipulator":[59],"as":[60,180,182],"research":[62,167,198,285,307],"object,":[63],"on":[65],"basis":[67],"its":[69,151],"Kinematics":[70],"analysis,":[71,246],"introduces":[72],"introduction":[74],"artificial":[76],"potential":[77],"field":[78],"(APF)":[79],"carry":[81],"out":[82],"planning":[85,130,317,324,337],"manipulator.":[88,114],"At":[89,219],"same":[91,221],"time,":[92],"integrates":[94],"with":[96,213],"A*":[97],"algorithm":[98,134,232],"jointly":[100],"achieve":[101],"optimization":[103,122],"parameters":[106],"In":[115,242],"addition,":[116],"order":[118],"avoid":[120],"parameter":[121],"falling":[123],"into":[124],"local":[125],"extremum":[126],"during":[127],"process,":[131],"IRRT":[133,231,263],"incorporated":[136],"re":[138],"plan":[139],"path,":[141,147,282],"improve":[142],"smoothness":[144],"finally":[149],"verify":[150],"effect":[154],"simulation":[156],"experiments.":[157],"results":[159,303],"showed":[160],"that":[161,296,305],"convergence":[164],"comparison,":[165],"method":[168,199,286,308],"had":[169,200],"minimum":[171,202],"loss":[172],"function":[173],"value":[174,179,204,215],"stable":[177],"fitness":[178],"soon":[181],"iteration":[184,207],"proceeded":[185,208],"50th":[188],"20th":[190],"generation,":[191,212],"respectively.":[192,241],"A":[193],"On":[194],"dataset,":[196],"MAPE":[203,224],"when":[205,247],"45th":[211],"a":[214,269,280,290],"close":[216],"0.":[218],"moment,":[222],"values":[225],"IAPF":[228],"algorithm,":[229],"literature":[235],"were":[236],"0.052%,":[237],"0.108%":[238],"0.218%,":[240],"practical":[244],"application":[245],"robot":[249],"arm":[250,314],"starts":[251],"running":[252],"three":[254],"different":[255],"starting":[256],"positions":[257],"a,":[258],"b":[259],"c,":[261],"algorithm\u2019s":[264],"larger":[270],"arc":[271],"tends":[273,287],"reach":[275],"target":[277],"location":[278],"longer":[281],"while":[283],"find":[289],"relatively":[291],"closer":[292],"can":[297,319],"be":[298],"passed":[299],"smoothly.":[300],"above":[302],"show":[304],"highly":[310],"adaptable":[311],"complete":[320],"faster":[325],"reasonably,":[328],"providing":[329],"new":[330],"technical":[331],"support":[332],"optimising":[334],"system":[338],"robots.":[342]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2023-09-08T00:00:00"}