{"id":"https://openalex.org/W4407900276","doi":"https://doi.org/10.1109/access.2025.3544546","title":"DPF-Bi-RRT<sup>*</sup>: An Improved Path Planning Algorithm for Complex 3D Environments With Adaptive Sampling and Dual Potential Field Strategy","display_name":"DPF-Bi-RRT<sup>*</sup>: An Improved Path Planning Algorithm for Complex 3D Environments With Adaptive Sampling and Dual Potential Field Strategy","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407900276","doi":"https://doi.org/10.1109/access.2025.3544546"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3544546","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3544546","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.2025.3544546","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102333687","display_name":"Lin Ge","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":true,"raw_author_name":"Lin Ge","raw_affiliation_strings":["School of Urban Construction, Hangzhou Polytechnic, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Urban Construction, Hangzhou Polytechnic, Hangzhou, China","institution_ids":["https://openalex.org/I4210132079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000883674","display_name":"Swee King Phang","orcid":"https://orcid.org/0000-0002-7877-8766"},"institutions":[{"id":"https://openalex.org/I4210143550","display_name":"Taylor's University","ror":"https://ror.org/0498pcx51","country_code":"MY","type":"education","lineage":["https://openalex.org/I4210143550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Swee King Phang","raw_affiliation_strings":["School of Engineering, Taylor&#x2019;s University, Subang Jaya, Selangor, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Taylor&#x2019;s University, Subang Jaya, Selangor, Malaysia","institution_ids":["https://openalex.org/I4210143550"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051586307","display_name":"Nohaidda Sariff","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143550","display_name":"Taylor's University","ror":"https://ror.org/0498pcx51","country_code":"MY","type":"education","lineage":["https://openalex.org/I4210143550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Nohaidda Sariff","raw_affiliation_strings":["School of Engineering, Taylor&#x2019;s University, Subang Jaya, Selangor, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Taylor&#x2019;s University, Subang Jaya, Selangor, Malaysia","institution_ids":["https://openalex.org/I4210143550"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102333687"],"corresponding_institution_ids":["https://openalex.org/I4210132079"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.4165,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87157602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"35958","last_page":"35972"},"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":0.9817000031471252,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9519000053405762,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.7773164510726929},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.6618353724479675},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.644350528717041},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6383640766143799},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.5406574010848999},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4927971661090851},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4826372265815735},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.45758524537086487},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34856653213500977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2689112424850464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17590290307998657},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11564379930496216},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.10753652453422546},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09076189994812012},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08054301142692566},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07481399178504944},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.07480919361114502}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7773164510726929},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.6618353724479675},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.644350528717041},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6383640766143799},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.5406574010848999},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4927971661090851},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4826372265815735},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.45758524537086487},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34856653213500977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2689112424850464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17590290307998657},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11564379930496216},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.10753652453422546},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09076189994812012},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08054301142692566},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07481399178504944},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.07480919361114502},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3544546","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3544546","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:8b19f8be873343ac8e8218c7a5893f2a","is_oa":true,"landing_page_url":"https://doaj.org/article/8b19f8be873343ac8e8218c7a5893f2a","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 13, Pp 35958-35972 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3544546","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3544546","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":[{"score":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W2195540085","https://openalex.org/W2557741120","https://openalex.org/W2602191071","https://openalex.org/W2877466430","https://openalex.org/W2909688514","https://openalex.org/W2939104056","https://openalex.org/W2967629441","https://openalex.org/W3005955064","https://openalex.org/W3011646207","https://openalex.org/W3023178716","https://openalex.org/W3034726893","https://openalex.org/W3036205974","https://openalex.org/W3091360778","https://openalex.org/W3092987314","https://openalex.org/W3104158289","https://openalex.org/W3104753760","https://openalex.org/W3108838069","https://openalex.org/W3119069103","https://openalex.org/W3119164649","https://openalex.org/W3124827602","https://openalex.org/W3166118626","https://openalex.org/W3197895977","https://openalex.org/W3214232139","https://openalex.org/W3214468037","https://openalex.org/W3215794882","https://openalex.org/W4206111066","https://openalex.org/W4210438369","https://openalex.org/W4223954537","https://openalex.org/W4225677151","https://openalex.org/W4226503583","https://openalex.org/W4255662821","https://openalex.org/W4285189951","https://openalex.org/W4285196244","https://openalex.org/W4285288618","https://openalex.org/W4293215406","https://openalex.org/W4307631859","https://openalex.org/W4307957912","https://openalex.org/W4308310328","https://openalex.org/W4309914107","https://openalex.org/W4362582964","https://openalex.org/W4377008028","https://openalex.org/W4386753621","https://openalex.org/W4387129545","https://openalex.org/W4388282753","https://openalex.org/W4388469818","https://openalex.org/W4388868804","https://openalex.org/W4389844005","https://openalex.org/W4390816693","https://openalex.org/W4390912814","https://openalex.org/W4391957726","https://openalex.org/W4392381908","https://openalex.org/W4393098597","https://openalex.org/W4393186253","https://openalex.org/W4393186269","https://openalex.org/W4396542138","https://openalex.org/W4396765797","https://openalex.org/W4398272007","https://openalex.org/W4400316259","https://openalex.org/W4401358859","https://openalex.org/W4403021935","https://openalex.org/W4403389906","https://openalex.org/W4404731242","https://openalex.org/W4405429372"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W2062919732","https://openalex.org/W1965569281","https://openalex.org/W4324119413","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4282942842","https://openalex.org/W2893030767","https://openalex.org/W2897089229"],"abstract_inverted_index":{"This":[0],"research":[1],"work,":[2],"we":[3],"introduce":[4],"a":[5,13,19,35,73],"path":[6,25,42,61,153],"planning":[7,26],"algorithm":[8,33,56],"called":[9],"DPF-Bi-RRT*":[10,128,141],"which":[11],"integrates":[12],"Dual":[14],"Potential":[15],"Field":[16],"mechanism":[17],"with":[18,87],"Targeted":[20],"Sampling":[21],"Strategy":[22],"to":[23,103,138],"address":[24],"issues":[27],"in":[28,107,119,143,181],"complex":[29,182],"3D":[30,183],"spaces.":[31,122],"The":[32,55,97],"achieves":[34,57],"good":[36],"trade":[37],"off":[38],"between":[39],"the":[40,69,113],"global":[41],"optimization":[43],"and":[44,52,110,132,151,167],"precise":[45],"local":[46],"obstacle":[47],"avoidance":[48,109],"by":[49,66,81],"combining":[50],"dual-attraction":[51],"dual-repulsion":[53],"mechanisms.":[54],"effective":[58],"exploration":[59],"of":[60,63,90,115,127,162],"regions":[62],"high":[64],"quality":[65],"dynamically":[67],"adjusting":[68],"sampling":[70,76,83],"distribution.":[71],"Additionally,":[72],"biased":[74],"random":[75],"strategy":[77],"improves":[78],"computational":[79,95,149],"efficiency":[80],"directing":[82],"resources":[84],"toward":[85],"sections":[86],"higher":[88],"promise":[89],"optimal":[91],"paths,":[92],"dramatically":[93],"reducing":[94],"cost.":[96],"dual":[98],"potential":[99],"field":[100],"model":[101],"lead":[102],"more":[104],"flexible":[105],"method":[106],"collision":[108,116,165],"can":[111],"improve":[112],"precision":[114],"avoidance,":[117],"especially":[118,173],"cluttered":[120],"dynamical":[121],"We":[123],"perform":[124],"comparative":[125],"simulations":[126],"versus":[129],"RRT*,":[130],"Bi-RRT*,":[131],"APF-Bi-RRT*":[133],"across":[134],"three":[135],"defined":[136],"environments":[137],"demonstrate":[139],"that":[140],"results":[142],"lower":[144],"average":[145],"node":[146],"counts,":[147],"less":[148],"time,":[150],"longer":[152],"lengths":[154],"than":[155],"all":[156],"three.":[157],"Results":[158],"validate":[159],"its":[160],"capability":[161],"generating":[163],"smooth,":[164],"free":[166],"globally":[168],"optimized":[169],"paths":[170],"making":[171],"it":[172],"suitable":[174],"for":[175],"autonomous":[176],"aerial":[177],"vehicle":[178],"(AAV)":[179],"navigation":[180],"environments.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-02-25T00:00:00"}