{"id":"https://openalex.org/W2970918591","doi":"https://doi.org/10.1109/icinfa.2018.8812332","title":"Smooth Path Planning for Mobile Robot Based on Adaptive Rapidly-exploring Random Tree","display_name":"Smooth Path Planning for Mobile Robot Based on Adaptive Rapidly-exploring Random Tree","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2970918591","doi":"https://doi.org/10.1109/icinfa.2018.8812332","mag":"2970918591"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2018.8812332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2018.8812332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Information and Automation (ICIA)","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/A5063442109","display_name":"Songcan Zhang","orcid":"https://orcid.org/0000-0002-9040-0408"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Songcan ZHANG","raw_affiliation_strings":["School of Information Engineering, Henan University of Science and Technology, Luoyang, China","School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]},{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087363347","display_name":"Jiexin Pu","orcid":"https://orcid.org/0000-0003-0921-2870"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiexin PU","raw_affiliation_strings":["School of Information Engineering, Henan University of Science and Technology, Luoyang, China","School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]},{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000000364","display_name":"Yanna Si","orcid":"https://orcid.org/0000-0002-2876-3216"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanna SI","raw_affiliation_strings":["School of Information Engineering, Henan University of Science and Technology, Luoyang, China","School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]},{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100716518","display_name":"Lifan Sun","orcid":"https://orcid.org/0000-0002-3678-4180"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifan Sun","raw_affiliation_strings":["School of Information Engineering, Henan University of Science and Technology, Luoyang, China","School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, China","institution_ids":["https://openalex.org/I167383011"]},{"raw_affiliation_string":"School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan Province, China","institution_ids":["https://openalex.org/I167383011"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063442109"],"corresponding_institution_ids":["https://openalex.org/I167383011"],"apc_list":null,"apc_paid":null,"fwci":0.1045,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.50491288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"591","last_page":"596"},"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":0.9879999756813049,"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":0.9767000079154968,"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/motion-planning","display_name":"Motion planning","score":0.8587087392807007},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7298371195793152},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6811858415603638},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5967604517936707},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5864779949188232},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5809358358383179},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.520209014415741},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.5024924278259277},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48127931356430054},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.47752678394317627},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.42564159631729126},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.4236140251159668},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.406696081161499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39148932695388794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3670662045478821},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21138328313827515}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8587087392807007},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7298371195793152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811858415603638},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5967604517936707},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5864779949188232},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5809358358383179},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.520209014415741},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.5024924278259277},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48127931356430054},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.47752678394317627},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.42564159631729126},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.4236140251159668},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.406696081161499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39148932695388794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3670662045478821},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21138328313827515},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2018.8812332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2018.8812332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1507592509","https://openalex.org/W1971086298","https://openalex.org/W1978151341","https://openalex.org/W2033365336","https://openalex.org/W2055548166","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2120600560","https://openalex.org/W2121701515","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2143826757","https://openalex.org/W2145053972","https://openalex.org/W2248868695","https://openalex.org/W2268665685","https://openalex.org/W2460406728","https://openalex.org/W2557053319","https://openalex.org/W2557741120","https://openalex.org/W3104753760","https://openalex.org/W6605295560","https://openalex.org/W6659074090"],"related_works":["https://openalex.org/W2092513144","https://openalex.org/W2165808384","https://openalex.org/W2129550502","https://openalex.org/W4312191671","https://openalex.org/W3111684308","https://openalex.org/W3034726893","https://openalex.org/W2914610299","https://openalex.org/W1660309994","https://openalex.org/W4360831358","https://openalex.org/W2940127232"],"abstract_inverted_index":{"Path":[0,12],"planning":[1],"is":[2,17,37,73,100,117],"a":[3,26,93],"challenging":[4],"issue":[5],"in":[6,61],"the":[7,35,42,87,104,114],"field":[8],"of":[9,33],"mobile":[10],"robotics.":[11],"planner":[13],"based":[14],"on":[15],"RRT":[16,44,71],"widely":[18],"used":[19,101],"due":[20],"to":[21,24,54,86,102],"their":[22],"ability":[23],"find":[25],"feasible":[27],"path":[28,57,105],"rapidly":[29],"and":[30,51,65,82,95,120],"efficiently.":[31,123],"Regardless":[32],"whether":[34],"environment":[36],"simple":[38],"or":[39],"complex,":[40],"however,":[41],"traditional":[43],"algorithms":[45],"always":[46],"adapts":[47],"fixed":[48],"step":[49,80],"length":[50,81],"bias":[52,83],"probability":[53,84],"carry":[55],"out":[56],"planning,":[58],"which":[59,75],"resulting":[60],"excessive":[62],"redundant":[63,108],"nodes":[64],"poor":[66],"algorithm":[67,72,116],"performance.":[68],"An":[69],"adaptive":[70],"proposed":[74,115],"it":[76],"can":[77,121],"automatically":[78],"adjust":[79],"according":[85],"collision":[88],"detection":[89],"results.":[90],"To":[91],"obtain":[92],"shorter":[94],"smooth":[96],"path,":[97],"greedy":[98],"approach":[99],"prune":[103],"by":[106],"deleting":[107],"nodes.":[109],"Simulation":[110],"results":[111],"show":[112],"that":[113],"highly":[118],"competitive":[119],"work":[122]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}