{"id":"https://openalex.org/W4406890741","doi":"https://doi.org/10.1109/access.2025.3535728","title":"An Improved HM-SAC-CA Algorithm for Mobile Robot Path Planning in Unknown Complex Environments","display_name":"An Improved HM-SAC-CA Algorithm for Mobile Robot Path Planning in Unknown Complex Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406890741","doi":"https://doi.org/10.1109/access.2025.3535728"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3535728","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3535728","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.2025.3535728","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066285442","display_name":"Ting Jiao","orcid":"https://orcid.org/0000-0003-2343-9932"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Jiao","raw_affiliation_strings":["School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-2343-9932","affiliations":[{"raw_affiliation_string":"School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Conglin Hu","orcid":"https://orcid.org/0009-0002-1628-5998"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Conglin Hu","raw_affiliation_strings":["School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China"],"raw_orcid":"https://orcid.org/0009-0002-1628-5998","affiliations":[{"raw_affiliation_string":"School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lingxin Kong","orcid":"https://orcid.org/0009-0001-8502-9069"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingxin Kong","raw_affiliation_strings":["School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China"],"raw_orcid":"https://orcid.org/0009-0001-8502-9069","affiliations":[{"raw_affiliation_string":"School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058184619","display_name":"Xiao Zhao","orcid":"https://orcid.org/0000-0002-8183-8205"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xihao Zhao","raw_affiliation_strings":["School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101598057","display_name":"Zhongbao Wang","orcid":"https://orcid.org/0000-0002-6901-1862"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongbao Wang","raw_affiliation_strings":["School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Software Engineering, Shanxi University, Taiyuan, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I181877577"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.2462,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86729593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"21152","last_page":"21163"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9674999713897705,"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":0.9620000123977661,"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/mobile-robot","display_name":"Mobile robot","score":0.6714617013931274},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6613261103630066},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6549938321113586},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4926648736000061},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4491385221481323},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39116722345352173},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3802506923675537},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.12556889653205872}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6714617013931274},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6613261103630066},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6549938321113586},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4926648736000061},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4491385221481323},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39116722345352173},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3802506923675537},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.12556889653205872}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3535728","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3535728","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:5bdd80514ff64cd7a3b72c8b0305995d","is_oa":true,"landing_page_url":"https://doaj.org/article/5bdd80514ff64cd7a3b72c8b0305995d","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 13, Pp 21152-21163 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3535728","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3535728","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":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G2858059920","display_name":null,"funder_award_id":"62003199","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3922906565","display_name":null,"funder_award_id":"2024KY128","funder_id":"https://openalex.org/F4320322666","funder_display_name":"Natural Science Foundation of Shanxi Province"},{"id":"https://openalex.org/G488254615","display_name":null,"funder_award_id":"202403021221022","funder_id":"https://openalex.org/F4320322666","funder_display_name":"Natural Science Foundation of Shanxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322666","display_name":"Natural Science Foundation of Shanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2588283865","https://openalex.org/W2904316432","https://openalex.org/W2907537824","https://openalex.org/W2989186172","https://openalex.org/W3037694644","https://openalex.org/W3046960330","https://openalex.org/W3133227876","https://openalex.org/W3162448846","https://openalex.org/W3170904391","https://openalex.org/W3202542428","https://openalex.org/W4229066299","https://openalex.org/W4284714030","https://openalex.org/W4289926423","https://openalex.org/W4304118970","https://openalex.org/W4380992459","https://openalex.org/W4383502225","https://openalex.org/W4385626885","https://openalex.org/W4389232926","https://openalex.org/W4394583517","https://openalex.org/W4399568688","https://openalex.org/W4401277438","https://openalex.org/W4401990708","https://openalex.org/W4404056790","https://openalex.org/W4404125296","https://openalex.org/W4404469448","https://openalex.org/W6737893269","https://openalex.org/W6747473740"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W4289260319","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915"],"abstract_inverted_index":{"Path":[0],"planning":[1,34],"and":[2,8,18,82,103,120,135,148,153],"its":[3],"optimization":[4],"is":[5,57,77,91],"a":[6,12,16,47,94,99,104,145,149],"critical":[7],"difficult":[9],"task":[10],"for":[11,32],"mobile":[13,151],"robot":[14,152],"in":[15,35,125],"complex":[17,37],"unknown":[19,36],"environment.":[20],"To":[21],"tackle":[22],"this":[23],"problem,":[24],"we":[25],"propose":[26],"an":[27,71],"improved":[28],"SAC":[29,43],"(HM-SAC-CA)":[30],"algorithm":[31,51],"path":[33],"environments.":[38],"First,":[39],"based":[40],"on":[41],"the":[42,61,83,116,121,129,137,154,157,160],"maximum":[44],"entropy":[45,55,68],"framework,":[46],"deep":[48],"reinforcement":[49],"learning":[50,65,139],"with":[52],"clipped":[53],"automatic":[54],"adjustment":[56],"proposed":[58,161],"to":[59,127],"improve":[60],"quality":[62],"of":[63,131,159],"policy":[64],"by":[66,87,93],"suppressing":[67],"evaluation.":[69],"Second,":[70],"innovative":[72],"hierarchical":[73],"experience":[74,80],"storage":[75],"structure":[76],"constructed":[78],"during":[79,133],"replay,":[81],"overfitting":[84],"phenomenon":[85],"caused":[86],"using":[88,144],"good":[89],"experiences":[90],"eliminated":[92],"bias-free":[95],"sampling":[96],"strategy.":[97],"Finally,":[98],"posture":[100,122],"reward":[101,118,123],"function":[102,119,124],"staged":[105,111],"incentive":[106,112],"mechanism":[107,113],"are":[108,142],"proposed.":[109],"The":[110],"uses":[114],"both":[115],"sparse":[117],"stages":[126],"reduce":[128],"blindness":[130],"exploration":[132],"training":[134,138],"accelerate":[136],"process.":[140],"Experiments":[141],"conducted":[143],"simulated":[146],"Turtlebot3":[147],"real":[150],"results":[155],"validate":[156],"performance":[158],"work.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}