{"id":"https://openalex.org/W2980537763","doi":"https://doi.org/10.1109/aim.2019.8868362","title":"A Fast Path Planning Method for Mobile Robot Based on Voronoi Diagram and Improved D* Algorithm","display_name":"A Fast Path Planning Method for Mobile Robot Based on Voronoi Diagram and Improved D* Algorithm","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980537763","doi":"https://doi.org/10.1109/aim.2019.8868362","mag":"2980537763"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868362","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101838263","display_name":"Liquan Jiang","orcid":"https://orcid.org/0000-0002-7203-5953"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liquan Jiang","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100422253","display_name":"Shuting Wang","orcid":"https://orcid.org/0000-0001-5620-9151"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuting Wang","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670645","display_name":"Jie Meng","orcid":"https://orcid.org/0000-0002-4485-4812"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Meng","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395708","display_name":"Xiaolong Zhang","orcid":"https://orcid.org/0000-0003-2808-1220"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Zhang","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357010","display_name":"Gen Li","orcid":"https://orcid.org/0000-0001-7511-7308"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gen Li","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014022622","display_name":"Yuanlong Xie","orcid":"https://orcid.org/0000-0003-1158-1587"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanlong Xie","raw_affiliation_strings":["School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.4063,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.66188512,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"784","last_page":"789"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9922999739646912,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9918000102043152,"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/voronoi-diagram","display_name":"Voronoi diagram","score":0.9465013742446899},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.862197756767273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7253597378730774},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6529988050460815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6414085626602173},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6310657858848572},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5731761455535889},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5113605856895447},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.50728839635849},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49323219060897827},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48316138982772827},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.43037131428718567},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4250045418739319},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2597830891609192},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.252236008644104}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.9465013742446899},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.862197756767273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7253597378730774},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6529988050460815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6414085626602173},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6310657858848572},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5731761455535889},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5113605856895447},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.50728839635849},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49323219060897827},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48316138982772827},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.43037131428718567},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4250045418739319},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2597830891609192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.252236008644104},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868362","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1646403467","https://openalex.org/W1969839206","https://openalex.org/W1992106482","https://openalex.org/W2012380850","https://openalex.org/W2058107562","https://openalex.org/W2515498963","https://openalex.org/W2526515798","https://openalex.org/W2563320938","https://openalex.org/W2586687062","https://openalex.org/W2735603972","https://openalex.org/W2740584750","https://openalex.org/W2746418572","https://openalex.org/W2790544020","https://openalex.org/W2911283711"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3200041777","https://openalex.org/W2368795992","https://openalex.org/W4386464271","https://openalex.org/W3119736302","https://openalex.org/W3139139461","https://openalex.org/W2056737145","https://openalex.org/W4297094037","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Fast":[0],"path":[1,26,35,103],"planning":[2,36,96],"is":[3,38,50,68,89,116],"hard":[4],"to":[5,12,52,92],"achieve":[6],"for":[7],"a":[8,33,132],"mobile":[9,122],"robot":[10,123],"due":[11],"the":[13,17,24,54,58,62,65,72,81,85,95,108,113],"difficulties":[14],"in":[15,120],"balancing":[16],"efficiency":[18],"and":[19,27,43,56,71,101,110,134],"distance":[20],"security":[21],"requirements":[22],"between":[23],"desired":[25],"obstacle.":[28],"To":[29],"address":[30],"this":[31],"problem,":[32],"practical":[34],"method":[37,49,115],"proposed":[39,114],"by":[40,79,118],"combining":[41],"Voronoi":[42],"D*":[44],"(VD*)":[45],"algorithm.":[46],"A":[47],"Voronoi-based":[48],"presented":[51],"re-divide":[53],"map":[55],"re-fit":[57],"obstacles":[59],"so":[60],"that":[61],"intensity":[63],"of":[64,112],"sampling":[66],"points":[67],"specified":[69],"satisfactorily":[70],"consuming":[73],"time":[74],"can":[75,104],"be":[76,105],"mitigated.":[77],"Moreover,":[78,107],"utilizing":[80],"improved":[82],"VD*":[83],"algorithm,":[84],"search":[86],"step":[87],"size":[88],"regulated":[90],"adaptively":[91],"speed":[93],"up":[94],"convergence.":[97],"Thus,":[98],"an":[99],"efficiently-planned":[100],"smooth":[102,133],"guaranteed.":[106],"effectiveness":[109],"superiority":[111],"verified":[117],"simulations":[119],"two":[121],"situations,":[124],"which":[125],"show":[126],"reduced":[127],"calculation":[128],"burden":[129],"while":[130],"achieving":[131],"short":[135],"path.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}