{"id":"https://openalex.org/W2910909408","doi":"https://doi.org/10.1109/icarm.2018.8610680","title":"Optimal RRT* Planning and Synchronous Control of Cable-Driven Parallel Robots","display_name":"Optimal RRT* Planning and Synchronous Control of Cable-Driven Parallel Robots","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2910909408","doi":"https://doi.org/10.1109/icarm.2018.8610680","mag":"2910909408"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5100392823","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0002-2577-6257"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031221880","display_name":"Weiwei Shang","orcid":"https://orcid.org/0000-0001-7541-2198"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Shang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047621347","display_name":"Shuang Cong","orcid":"https://orcid.org/0000-0001-8101-0128"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Cong","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P. R. China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P. R. China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100392823"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.6267,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.75168937,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"95","last_page":"100"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/workspace","display_name":"Workspace","score":0.7949286699295044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7043837904930115},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6937903165817261},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6302409768104553},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6006356477737427},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5742562413215637},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.531604528427124},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5050492882728577},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4944770336151123},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44634366035461426},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.42192232608795166},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4145127534866333},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.368436336517334},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.344821035861969},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30678701400756836},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21635720133781433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21223092079162598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10940361022949219},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.09345388412475586}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7949286699295044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7043837904930115},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6937903165817261},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6302409768104553},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6006356477737427},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5742562413215637},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.531604528427124},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5050492882728577},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4944770336151123},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44634366035461426},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.42192232608795166},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4145127534866333},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.368436336517334},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.344821035861969},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30678701400756836},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21635720133781433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21223092079162598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10940361022949219},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.09345388412475586},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W11919049","https://openalex.org/W100816257","https://openalex.org/W267969170","https://openalex.org/W640460597","https://openalex.org/W1006639712","https://openalex.org/W1963715236","https://openalex.org/W1967030176","https://openalex.org/W2000359213","https://openalex.org/W2025702470","https://openalex.org/W2070342389","https://openalex.org/W2071401582","https://openalex.org/W2091984359","https://openalex.org/W2103120971","https://openalex.org/W2111455515","https://openalex.org/W2114171536","https://openalex.org/W2163063471","https://openalex.org/W2165216595","https://openalex.org/W2165862167","https://openalex.org/W2168828783","https://openalex.org/W2184517876","https://openalex.org/W2192950363","https://openalex.org/W2564776177"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W3170845014","https://openalex.org/W2050548713","https://openalex.org/W2906946336","https://openalex.org/W3119736302","https://openalex.org/W2938416672","https://openalex.org/W3200041777","https://openalex.org/W2146611987","https://openalex.org/W4386464271","https://openalex.org/W4289599435"],"abstract_inverted_index":{"Cable-driven":[0],"parallel":[1],"robots":[2],"(CDPRs)":[3],"can":[4,117,171],"provide":[5],"high":[6,173],"speed":[7],"and":[8,35,56,87,137,167],"heavy":[9],"payload":[10],"over":[11],"large":[12],"workspace":[13],"by":[14],"using":[15],"multiple":[16],"flexible":[17],"cables.":[18],"The":[19,135,151],"main":[20],"challenge":[21],"of":[22,105,131],"CDPRs":[23],"stems":[24],"from":[25],"the":[26,40,52,57,64,71,84,88,92,103,106,114,119,129,132,155,164,168],"motion":[27,48],"control":[28,49,59],"in":[29],"which":[30],"cables":[31,146],"should":[32],"avoid":[33],"interferences":[34],"coordinate":[36],"each":[37],"other":[38],"during":[39],"whole":[41],"workspace.":[42],"To":[43],"solve":[44],"it,":[45],"a":[46,76,123,142],"comprehensive":[47],"scheme":[50],"including":[51],"optimal":[53,85],"path":[54,72,86,121],"planning":[55,107,157],"synchronization":[58,124,169],"is":[60,80,98,126],"proposed.":[61],"Based":[62],"on":[63,128,141],"improved":[65],"Rapidly-exploring":[66],"Random":[67],"Tree":[68],"(RRT*)":[69],"algorithm,":[70,166],"generation":[73],"process":[74],"with":[75,147],"novel":[77],"cost":[78],"function":[79],"presented":[81],"to":[82,100,111],"ensure":[83],"obstacle":[89],"avoidance.":[90],"Moreover,":[91],"Potential":[93],"Field":[94],"Guided":[95],"(PFG)":[96],"method":[97],"designed":[99],"further":[101],"improve":[102],"efficiency":[104,162],"algorithm.":[108],"In":[109],"order":[110],"validate":[112],"that":[113,154],"moving":[115],"platform":[116],"track":[118],"feasible":[120],"well,":[122],"controller":[125,170],"developed":[127],"basis":[130],"dynamic":[133],"model.":[134],"simulations":[136],"experiments":[138],"are":[139],"implemented":[140],"self-built":[143],"4\u20133":[144],"(4":[145],"3":[148],"DOF)":[149],"CDPR.":[150],"results":[152],"indicate":[153],"proposed":[156],"algorithm":[158],"has":[159],"much":[160],"better":[161],"than":[163],"RRT*":[165],"get":[172],"tracking":[174],"accuracy.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}