{"id":"https://openalex.org/W7153102852","doi":"https://doi.org/10.1109/access.2026.3681865","title":"An Adaptive RRT* Algorithm for Narrow Passage Path Planning","display_name":"An Adaptive RRT* Algorithm for Narrow Passage Path Planning","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7153102852","doi":"https://doi.org/10.1109/access.2026.3681865"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3681865","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3681865","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.2026.3681865","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Xingmin Wang","orcid":"https://orcid.org/0009-0003-7185-3465"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingmin Wang","raw_affiliation_strings":["Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":"https://orcid.org/0009-0003-7185-3465","affiliations":[{"raw_affiliation_string":"Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133339500","display_name":"Qian Li","orcid":null},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Wang","raw_affiliation_strings":["Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":"https://orcid.org/0009-0006-9651-4103","affiliations":[{"raw_affiliation_string":"Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qian Li","orcid":null},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Li","raw_affiliation_strings":["Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133371539","display_name":"Yang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wu","raw_affiliation_strings":["Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091069274","display_name":"Zhumadil Baigunchekov","orcid":"https://orcid.org/0000-0002-5807-0541"},"institutions":[{"id":"https://openalex.org/I185571130","display_name":"Al-Farabi Kazakh National University","ror":"https://ror.org/03q0vrn42","country_code":"KZ","type":"education","lineage":["https://openalex.org/I185571130"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Zhumadil Baigunchekov","raw_affiliation_strings":["Department of Mechanics, Faculty of Mechanics and Mathematics, Al-Farabi Kazakh National University, Almaty, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0002-5807-0541","affiliations":[{"raw_affiliation_string":"Department of Mechanics, Faculty of Mechanics and Mathematics, Al-Farabi Kazakh National University, Almaty, Kazakhstan","institution_ids":["https://openalex.org/I185571130"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39224244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"62871","last_page":"62882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9294000267982483,"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":0.9294000267982483,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.012500000186264515,"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"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.003599999938160181,"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/path","display_name":"Path (computing)","score":0.4805999994277954},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.3815000057220459},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.37130001187324524},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.2985999882221222},{"id":"https://openalex.org/keywords/adaptive-algorithm","display_name":"Adaptive algorithm","score":0.27309998869895935},{"id":"https://openalex.org/keywords/signal-processing","display_name":"Signal processing","score":0.2718999981880188}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6784999966621399},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.598800003528595},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4805999994277954},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.3815000057220459},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.37130001187324524},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2870999872684479},{"id":"https://openalex.org/C2776003309","wikidata":"https://www.wikidata.org/wiki/Q1988072","display_name":"Adaptive algorithm","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.2718999981880188},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2703000009059906},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C148764684","wikidata":"https://www.wikidata.org/wiki/Q621751","display_name":"Approximation algorithm","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.2614000141620636},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3681865","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3681865","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:d9aaf5280f7b441c9c725be4b3c2c518","is_oa":true,"landing_page_url":"https://doaj.org/article/d9aaf5280f7b441c9c725be4b3c2c518","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 14, Pp 62871-62882 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3681865","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3681865","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":[],"awards":[{"id":"https://openalex.org/G311335168","display_name":null,"funder_award_id":"2025KJHZ040","funder_id":"https://openalex.org/F4320327827","funder_display_name":"Key Research and Development Project of Hainan Province"},{"id":"https://openalex.org/G4034604943","display_name":null,"funder_award_id":"2025ZDZX11","funder_id":"https://openalex.org/F4320328720","funder_display_name":"Qilu University of Technology"},{"id":"https://openalex.org/G4264081052","display_name":null,"funder_award_id":"ZR2024QF114","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G8644867001","display_name":null,"funder_award_id":"2025KJHZ040","funder_id":"https://openalex.org/F4320333596","funder_display_name":"Key Technology Research and Development Program of Shandong"}],"funders":[{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320327827","display_name":"Key Research and Development Project of Hainan Province","ror":null},{"id":"https://openalex.org/F4320328720","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608"},{"id":"https://openalex.org/F4320333596","display_name":"Key Technology Research and Development Program of Shandong","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"the":[3,19,80,86,96,108,133,164,175,179,182],"rapidly":[4],"exploring":[5],"random":[6],"tree":[7],"star":[8],"(RRT*)":[9],"algorithm":[10,69,184],"has":[11],"continued":[12],"to":[13,25,46,90,99,158],"attract":[14],"significant":[15],"research":[16],"attention":[17],"in":[18,185],"field":[20],"of":[21,111,167,181,187],"path":[22,169],"planning":[23],"due":[24],"its":[26],"simple":[27],"implementation":[28],"and":[29,43,75,152,162,192],"asymptotic":[30],"optimality.":[31,170],"However,":[32],"RRT*":[33,68,177],"still":[34],"suffers":[35],"from":[36],"limitations":[37],"such":[38],"as":[39],"slow":[40],"convergence":[41,74,188],"speed":[42],"insufficient":[44],"adaptability":[45,78],"complex":[47],"environments.":[48],"Its":[49],"efficiency":[50,161],"significantly":[51],"decreases":[52],"when":[53],"navigating":[54],"environments":[55],"containing":[56],"narrow":[57,93],"passages.":[58],"To":[59],"address":[60],"these":[61,116,120],"limitations,":[62],"this":[63],"paper":[64],"proposes":[65],"an":[66,143],"adaptive":[67],"(A-RRT*)":[70],"that":[71],"achieves":[72],"faster":[73],"superior":[76],"environmental":[77,190],"than":[79],"standard":[81,176],"RRT*.":[82],"Firstly,":[83],"we":[84,146],"introduce":[85],"expansion":[87],"superposition":[88],"method":[89,103],"accurately":[91],"detect":[92],"passages,":[94],"enhancing":[95],"algorithm’s":[97],"ability":[98],"handle":[100],"them.":[101],"This":[102],"facilitates":[104],"swift":[105],"traversal":[106],"through":[107],"strategic":[109],"placement":[110],"subtree":[112],"root":[113],"nodes":[114],"within":[115],"identified":[117],"regions.":[118],"Furthermore,":[119],"subtrees":[121],"are":[122],"dynamically":[123],"activated":[124],"or":[125],"deactivated":[126],"based":[127],"on":[128],"spatial":[129],"distance,":[130],"effectively":[131],"mitigating":[132],"computational":[134,165,193],"explosion":[135],"associated":[136],"with":[137],"maintaining":[138],"multiple":[139],"trees.":[140],"After":[141],"obtaining":[142],"initial":[144],"solution,":[145],"design":[147],"a":[148,153],"circular":[149],"sampling":[150,160],"region":[151],"specific":[154],"node":[155],"connection":[156],"strategy":[157],"improve":[159],"reduce":[163],"complexity":[166],"achieving":[168],"Comparative":[171],"simulation":[172],"experiments":[173],"against":[174],"demonstrate":[178],"superiority":[180],"proposed":[183],"terms":[186],"speed,":[189],"adaptability,":[191],"efficiency.":[194]},"counts_by_year":[],"updated_date":"2026-05-05T06:06:40.768181","created_date":"2026-04-11T00:00:00"}