{"id":"https://openalex.org/W4313564038","doi":"https://doi.org/10.1109/icit48603.2022.10002819","title":"Weighted Multi-tree RRT Algorithm for Efficient Path-planning of Mobile Robots","display_name":"Weighted Multi-tree RRT Algorithm for Efficient Path-planning of Mobile Robots","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4313564038","doi":"https://doi.org/10.1109/icit48603.2022.10002819"},"language":"en","primary_location":{"id":"doi:10.1109/icit48603.2022.10002819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit48603.2022.10002819","pdf_url":null,"source":{"id":"https://openalex.org/S4363608411","display_name":"2022 IEEE International Conference on Industrial Technology (ICIT)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Industrial Technology (ICIT)","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/A5101680537","display_name":"Yiming Yan","orcid":"https://orcid.org/0000-0002-5497-3073"},"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":"Yiming Yan","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074","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":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047737556","display_name":"Hao Wu","orcid":"https://orcid.org/0000-0002-4138-1239"},"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":"Hao Wu","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","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":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430074","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/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanlong Xie","raw_affiliation_strings":["Guangdong Intelligent Robotics Institute,Dongguan,China,523808"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Intelligent Robotics Institute,Dongguan,China,523808","institution_ids":["https://openalex.org/I4210142539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2359,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.60346419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9850000143051147,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9839000105857849,"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/motion-planning","display_name":"Motion planning","score":0.8667633533477783},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.7709671258926392},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7208641767501831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7173341512680054},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5943962931632996},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5910820960998535},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5353733897209167},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5041857957839966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4971611797809601},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.486162394285202},{"id":"https://openalex.org/keywords/search-tree","display_name":"Search tree","score":0.43896979093551636},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4235057830810547},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4140721261501312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.406546950340271},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.3410962224006653},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17838406562805176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11590564250946045}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8667633533477783},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7709671258926392},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7208641767501831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7173341512680054},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5943962931632996},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5910820960998535},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5353733897209167},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5041857957839966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4971611797809601},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.486162394285202},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.43896979093551636},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4235057830810547},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4140721261501312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.406546950340271},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.3410962224006653},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17838406562805176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11590564250946045},{"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icit48603.2022.10002819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit48603.2022.10002819","pdf_url":null,"source":{"id":"https://openalex.org/S4363608411","display_name":"2022 IEEE International Conference on Industrial Technology (ICIT)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2053935894","https://openalex.org/W2086860466","https://openalex.org/W2557741120","https://openalex.org/W2560665049","https://openalex.org/W2604760770","https://openalex.org/W2611972117","https://openalex.org/W2791860092","https://openalex.org/W2796419292","https://openalex.org/W2892076060","https://openalex.org/W2902999210","https://openalex.org/W3008195728","https://openalex.org/W3080833149","https://openalex.org/W3086079486","https://openalex.org/W3092509735","https://openalex.org/W3158592412","https://openalex.org/W3184816460","https://openalex.org/W3200068961"],"related_works":["https://openalex.org/W2108906364","https://openalex.org/W1660309994","https://openalex.org/W4388759217","https://openalex.org/W3211562997","https://openalex.org/W3011727645","https://openalex.org/W4381433906","https://openalex.org/W2914610299","https://openalex.org/W2268712943","https://openalex.org/W2115889382","https://openalex.org/W3133563892"],"abstract_inverted_index":{"Path-planning":[0],"of":[1,30,68],"autonomous":[2],"mobile":[3,47],"robots":[4,48],"is":[5,73],"very":[6],"challenging":[7],"for":[8,46,78],"complex":[9,118],"large-scene":[10],"environments.":[11],"Existing":[12],"path-planning":[13],"strategies":[14],"often":[15],"encounter":[16],"problems":[17],"such":[18],"as":[19],"excessive":[20],"searching":[21],"in":[22],"local":[23],"areas":[24],"and":[25,62,90],"producing":[26],"a":[27,40],"large":[28],"number":[29],"useless":[31],"nodes.":[32],"To":[33],"address":[34],"this":[35,37],"problem,":[36],"paper":[38],"proposes":[39],"new":[41],"iterative":[42],"path":[43,99],"planning":[44,88],"algorithm":[45],"via":[49],"weighted":[50],"multi-tree":[51],"rapidly-exploring":[52],"random":[53,71,80],"trees":[54],"(WMRRT)":[55],"algorithm.":[56],"Aiming":[57],"at":[58],"achieving":[59],"progressive":[60],"optimization":[61],"accelerating":[63],"convergence,":[64],"the":[65,69,87,115],"node":[66],"list":[67],"first":[70],"tree":[72],"utilized":[74],"to":[75,105,113],"heuristically":[76],"search":[77],"subsequent":[79],"trees.":[81],"Combining":[82],"with":[83],"artificial":[84],"potential":[85],"field,":[86],"efficiency":[89],"collision-free":[91],"success":[92],"rate":[93],"can":[94,101],"be":[95,102],"strengthened.":[96],"The":[97],"related":[98],"parameters":[100],"flexibly":[103],"configurated":[104],"meet":[106],"different":[107],"requirements.":[108],"Several":[109],"experiments":[110],"are":[111],"performed":[112],"verify":[114],"effectiveness":[116],"under":[117],"scenarios.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
