{"id":"https://openalex.org/W2954866690","doi":"https://doi.org/10.1109/icnsc.2019.8743249","title":"The Path Planning of Mobile Robots Based on an Improved A* Algorithm","display_name":"The Path Planning of Mobile Robots Based on an Improved A* Algorithm","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2954866690","doi":"https://doi.org/10.1109/icnsc.2019.8743249","mag":"2954866690"},"language":"en","primary_location":{"id":"doi:10.1109/icnsc.2019.8743249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc.2019.8743249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Networking, Sensing and Control (ICNSC)","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/A5051800046","display_name":"Lu Chang","orcid":"https://orcid.org/0000-0001-5778-1854"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lu Chang","raw_affiliation_strings":["School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029285422","display_name":"Liang Shan","orcid":"https://orcid.org/0000-0001-8277-180X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Shan","raw_affiliation_strings":["School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100696862","display_name":"Jun Li","orcid":"https://orcid.org/0000-0002-5272-9130"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Li","raw_affiliation_strings":["School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080275149","display_name":"Yuewei Dai","orcid":"https://orcid.org/0000-0003-1522-9257"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuewei Dai","raw_affiliation_strings":["School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science &#x0026; Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051800046"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":0.5061,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.68694194,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"257","last_page":"262"},"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":0.996399998664856,"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":0.9789999723434448,"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/mobile-robot","display_name":"Mobile robot","score":0.7298786640167236},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7024417519569397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.701198399066925},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7005050182342529},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6943678259849548},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6695653200149536},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6138185858726501},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.567793607711792},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5670777559280396},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4921643137931824},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48063603043556213},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.41344618797302246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3656115233898163},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36416304111480713},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13588178157806396}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7298786640167236},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7024417519569397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.701198399066925},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7005050182342529},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6943678259849548},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6695653200149536},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6138185858726501},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.567793607711792},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5670777559280396},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4921643137931824},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48063603043556213},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.41344618797302246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3656115233898163},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36416304111480713},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13588178157806396},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icnsc.2019.8743249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc.2019.8743249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Networking, Sensing and Control (ICNSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"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":12,"referenced_works":["https://openalex.org/W1929789858","https://openalex.org/W1969483458","https://openalex.org/W2028945152","https://openalex.org/W2063963149","https://openalex.org/W2099144379","https://openalex.org/W2291734928","https://openalex.org/W2347603147","https://openalex.org/W2357031170","https://openalex.org/W2372754308","https://openalex.org/W2376732687","https://openalex.org/W4236251699","https://openalex.org/W6674627687"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W2394276631","https://openalex.org/W2007857089","https://openalex.org/W2125569607","https://openalex.org/W2084091668","https://openalex.org/W3117322459","https://openalex.org/W2953072111","https://openalex.org/W4383333717","https://openalex.org/W4313270149","https://openalex.org/W2786330942"],"abstract_inverted_index":{"Path":[0],"planning":[1],"with":[2,95],"the":[3,12,19,24,39,61,65,69,77,81,84,104,119,131,134,142,148,151],"traditional":[4],"A*":[5,49,114,136],"search":[6],"algorithm":[7,50,71,115,137],"for":[8,123],"mobile":[9],"robots":[10],"has":[11],"disadvantages":[13,33],"of":[14,23,83,133],"too":[15],"close":[16],"distance":[17],"from":[18],"obstacle,":[20],"no":[21],"consideration":[22],"robot":[25,40,122,149],"size":[26],"and":[27,68,80,99,110,145],"much":[28],"redundant":[29],"turning":[30,78],"points.":[31],"These":[32],"make":[34,60],"it":[35],"difficult":[36],"to":[37,59,74,118,150],"guide":[38,147],"movement":[41],"in":[42,153],"practice.":[43,154],"This":[44],"paper":[45],"proposes":[46],"a":[47,92],"smoothing":[48,70],"based":[51],"on":[52,91],"map":[53,56,94],"compression.":[54],"The":[55,86,112,126],"is":[57,72,88,107,116,138],"compressed":[58],"planned":[62],"path":[63,106,132],"avoid":[64],"narrow":[66,97],"position,":[67],"adopted":[73],"effectively":[75],"reduce":[76],"points":[79],"length":[82],"path.":[85],"simulation":[87],"carried":[89],"out":[90],"grid":[93],"typical":[96],"positions,":[98],"its":[100],"results":[101,128],"show":[102,129],"that":[103,130],"obtained":[105],"feasible,":[108],"safe":[109],"efficient.":[111],"improved":[113,135],"applied":[117],"XQ-4":[120],"Pro":[121],"comparative":[124],"experiments.":[125],"experimental":[127],"obviously":[139],"better":[140],"than":[141],"former":[143],"algorithm,":[144],"can":[146],"target":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
