{"id":"https://openalex.org/W4391945356","doi":"https://doi.org/10.1109/access.2024.3359644","title":"An Unmanned Sweeper Path Planning Algorithm for Structured Roads","display_name":"An Unmanned Sweeper Path Planning Algorithm for Structured Roads","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391945356","doi":"https://doi.org/10.1109/access.2024.3359644"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3359644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3359644","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10440019.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/ielx7/6287639/10380310/10440019.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100693609","display_name":"Lei He","orcid":"https://orcid.org/0000-0003-3020-2984"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei He","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041340420","display_name":"Baoyun Wang","orcid":"https://orcid.org/0009-0001-1310-4429"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoyun Wang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030923615","display_name":"Yunshan Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunshan Peng","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113669976","display_name":"Xiucai Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiucai Zhang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100693609"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.0497,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7560122,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"26242","last_page":"26250"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9782000184059143,"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/tree-traversal","display_name":"Tree traversal","score":0.973209798336029},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8034727573394775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7092551589012146},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.6741047501564026},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6604196429252625},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.632440447807312},{"id":"https://openalex.org/keywords/graph-traversal","display_name":"Graph traversal","score":0.6158646941184998},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.597239077091217},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5467102527618408},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.5277804732322693},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.44057103991508484},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43366876244544983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20162510871887207},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.15171098709106445},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14429986476898193},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.132328063249588},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.06386882066726685}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.973209798336029},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8034727573394775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7092551589012146},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.6741047501564026},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6604196429252625},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.632440447807312},{"id":"https://openalex.org/C96333769","wikidata":"https://www.wikidata.org/wiki/Q907955","display_name":"Graph traversal","level":3,"score":0.6158646941184998},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.597239077091217},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5467102527618408},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.5277804732322693},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.44057103991508484},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43366876244544983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20162510871887207},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.15171098709106445},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14429986476898193},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.132328063249588},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.06386882066726685},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3359644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3359644","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10440019.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:1902f6e3a3894e1e9c8493e6868fa7ca","is_oa":true,"landing_page_url":"https://doaj.org/article/1902f6e3a3894e1e9c8493e6868fa7ca","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 26242-26250 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3359644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3359644","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10440019.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":"Sustainable cities and communities","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G7534379770","display_name":null,"funder_award_id":"TC210H02S","funder_id":"https://openalex.org/F4320323970","funder_display_name":"Ministry of Industry and Information Technology of the People's Republic of China"}],"funders":[{"id":"https://openalex.org/F4320323970","display_name":"Ministry of Industry and Information Technology of the People's Republic of China","ror":"https://ror.org/0385nmy68"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391945356.pdf","grobid_xml":"https://content.openalex.org/works/W4391945356.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1069393676","https://openalex.org/W1843974934","https://openalex.org/W1969483458","https://openalex.org/W2017708378","https://openalex.org/W2017967707","https://openalex.org/W2042986967","https://openalex.org/W2095454340","https://openalex.org/W2120660345","https://openalex.org/W2122054842","https://openalex.org/W2134092250","https://openalex.org/W2139059344","https://openalex.org/W2169528473","https://openalex.org/W2891084336","https://openalex.org/W2971167143","https://openalex.org/W3040363661","https://openalex.org/W3201148029","https://openalex.org/W4245257205","https://openalex.org/W4319777662","https://openalex.org/W6941249815"],"related_works":["https://openalex.org/W2200188075","https://openalex.org/W4252596799","https://openalex.org/W4254594467","https://openalex.org/W4230405657","https://openalex.org/W244044452","https://openalex.org/W2552915643","https://openalex.org/W3213135344","https://openalex.org/W170547082","https://openalex.org/W2152421698","https://openalex.org/W2366394613"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,51],"path":[4,44,77,86],"planning":[5,14],"algorithm":[6,28,40,68,137],"to":[7,41,72,91,100,115,119],"address":[8],"the":[9,38,43,55,63,75,92,101,106,116,121,135],"issue":[10],"of":[11],"current":[12],"traversal":[13,20,109],"algorithms":[15],"being":[16],"unsuitable":[17],"for":[18,74],"lane":[19,48,57,81,87,108,124],"by":[21],"unmanned":[22],"sweepers":[23],"on":[24],"structured":[25,32,122,130,143],"roads.":[26,144],"The":[27,66],"treats":[29],"lanes":[30,118],"in":[31,128],"roads":[33],"as":[34],"nodes":[35],"and":[36,54,83,112,140],"utilizes":[37],"A*":[39,67],"compute":[42],"distances":[45],"between":[46,78],"all":[47],"nodes,":[49,82],"constructing":[50],"cost":[52],"matrix,":[53],"pre-traversal":[56,80,93],"node":[58,94,103,110],"sequence":[59,88,111],"is":[60,69,89,98],"found":[61],"through":[62],"heuristic":[64],"algorithm.":[65],"then":[70],"used":[71],"search":[73],"shortest":[76,85],"adjacent":[79],"this":[84],"added":[90],"sequence.":[95],"Pruning":[96],"optimization":[97],"applied":[99],"obtained":[102],"sequence,":[104],"generating":[105],"optimal":[107],"converting":[113],"it":[114],"corresponding":[117],"achieve":[120],"road":[123,131],"traversal.":[125],"Experimental":[126],"results":[127],"various":[129],"scenarios":[132],"indicate":[133],"that":[134],"proposed":[136],"can":[138],"effectively":[139],"completely":[141],"traverse":[142]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}