{"id":"https://openalex.org/W3090733629","doi":"https://doi.org/10.1109/icarm49381.2020.9195318","title":"Improved Safety-First A-Star Algorithm for Autonomous Vehicles","display_name":"Improved Safety-First A-Star Algorithm for Autonomous Vehicles","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3090733629","doi":"https://doi.org/10.1109/icarm49381.2020.9195318","mag":"3090733629"},"language":"en","primary_location":{"id":"doi:10.1109/icarm49381.2020.9195318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm49381.2020.9195318","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5064951946","display_name":"Junwei Yu","orcid":"https://orcid.org/0000-0003-2737-9789"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junwei Yu","raw_affiliation_strings":["Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091579598","display_name":"Jing Hou","orcid":"https://orcid.org/0000-0003-4778-137X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Hou","raw_affiliation_strings":["Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100323037","display_name":"Guang Chen","orcid":"https://orcid.org/0000-0002-7416-592X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Guang Chen","raw_affiliation_strings":["Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"706","last_page":"710"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9690999984741211,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/star","display_name":"Star (game theory)","score":0.7175064086914062},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.693534791469574},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6595903635025024},{"id":"https://openalex.org/keywords/a*-search-algorithm","display_name":"A* search algorithm","score":0.6526793241500854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6518555879592896},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6216173768043518},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.585853099822998},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5430947542190552},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5047644376754761},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4339720904827118},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.43395334482192993},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32792991399765015},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2473313808441162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2328455150127411},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18245309591293335},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1674996018409729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08681908249855042}],"concepts":[{"id":"https://openalex.org/C2780897414","wikidata":"https://www.wikidata.org/wiki/Q7600592","display_name":"Star (game theory)","level":2,"score":0.7175064086914062},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.693534791469574},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6595903635025024},{"id":"https://openalex.org/C103578098","wikidata":"https://www.wikidata.org/wiki/Q277680","display_name":"A* search algorithm","level":2,"score":0.6526793241500854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6518555879592896},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6216173768043518},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.585853099822998},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5430947542190552},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5047644376754761},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4339720904827118},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43395334482192993},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32792991399765015},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2473313808441162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2328455150127411},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18245309591293335},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1674996018409729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08681908249855042},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/icarm49381.2020.9195318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm49381.2020.9195318","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th 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":18,"referenced_works":["https://openalex.org/W1538039034","https://openalex.org/W1969483458","https://openalex.org/W1982572762","https://openalex.org/W1996183429","https://openalex.org/W2002462870","https://openalex.org/W2113029345","https://openalex.org/W2138761185","https://openalex.org/W2203313098","https://openalex.org/W2205290880","https://openalex.org/W2428437939","https://openalex.org/W2521081700","https://openalex.org/W2594709403","https://openalex.org/W2793185916","https://openalex.org/W2892025205","https://openalex.org/W2945104439","https://openalex.org/W2972913817","https://openalex.org/W2977220028","https://openalex.org/W6687918259"],"related_works":["https://openalex.org/W4313288939","https://openalex.org/W4312400577","https://openalex.org/W2904746177","https://openalex.org/W3116259232","https://openalex.org/W2056754788","https://openalex.org/W4379526062","https://openalex.org/W2027242685","https://openalex.org/W4317532638","https://openalex.org/W2598708258","https://openalex.org/W2889678546"],"abstract_inverted_index":{"The":[0,121,136],"research":[1],"focus":[2],"of":[3,17,32,71,74,88,143],"this":[4],"paper":[5],"is":[6,79,100,126,149],"to":[7,13,43,65,81,116],"improve":[8],"the":[9,15,26,30,36,41,68,72,75,82,86,91,105,110,118,129,141,144],"traditional":[10,76,130],"A-star":[11,77,124,131,147],"algorithm":[12,28,42,78,125,132,148],"meet":[14,117],"needs":[16],"autonomous":[18],"vehicles":[19],"for":[20,58],"path":[21,48,51,107,111],"safety":[22,102],"and":[23,50,108],"smoothness.":[24],"First,":[25],"improved":[27,80,122,145],"considers":[29],"factor":[31],"obstacle":[33],"distance":[34,103],"in":[35,133],"heuristic":[37],"function.":[38],"This":[39],"allows":[40],"strike":[44],"a":[45],"balance":[46],"between":[47,104],"length":[49],"security,":[52],"as":[53,55],"well":[54],"avoiding":[56],"searching":[57],"redundant":[59],"nodes":[60],"that":[61,85,140],"are":[62],"too":[63],"close":[64],"obstacles.":[66],"Besides,":[67],"expansion":[69],"mode":[70],"8-connection":[73],"20-connection,":[83],"so":[84],"sharpness":[87],"turning":[89],"at":[90],"corner":[92],"can":[93,113],"be":[94,114],"greatly":[95,150],"reduced.":[96],"And":[97],"because":[98],"there":[99],"enough":[101],"planned":[106],"obstacles,":[109],"smoothing":[112],"performed":[115],"vehicle":[119],"dynamics.":[120],"safety-first":[123,146],"compared":[127],"with":[128],"various":[134],"scenes.":[135],"experimental":[137],"results":[138],"prove":[139],"security":[142],"enhanced.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}