{"id":"https://openalex.org/W3162361087","doi":"https://doi.org/10.1109/isr50024.2021.9419385","title":"Path Planning Algorithm Based on the Improved RRT-Connect for Home Service Robot Arms","display_name":"Path Planning Algorithm Based on the Improved RRT-Connect for Home Service Robot Arms","publication_year":2021,"publication_date":"2021-03-04","ids":{"openalex":"https://openalex.org/W3162361087","doi":"https://doi.org/10.1109/isr50024.2021.9419385","mag":"3162361087"},"language":"en","primary_location":{"id":"doi:10.1109/isr50024.2021.9419385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr50024.2021.9419385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","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/A5100733003","display_name":"Shuyu Li","orcid":"https://orcid.org/0000-0002-3459-6821"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuyu Li","raw_affiliation_strings":["Rehabilitation Robotic Laboratory of Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Robotic Laboratory of Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025905383","display_name":"Donghui Zhao","orcid":"https://orcid.org/0000-0001-7836-7425"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Donghui Zhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101712233","display_name":"Yizhen Sun","orcid":"https://orcid.org/0000-0002-2794-7195"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhen Sun","raw_affiliation_strings":["Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007861370","display_name":"Junyou Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junyou Yang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5085134821","display_name":"Shuoyu Wang","orcid":"https://orcid.org/0000-0002-2111-6251"},"institutions":[{"id":"https://openalex.org/I35568498","display_name":"Kochi University of Technology","ror":"https://ror.org/00rghrr56","country_code":"JP","type":"education","lineage":["https://openalex.org/I35568498"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuoyu Wang","raw_affiliation_strings":["Kochi University of Technology, Kochi, Japan"],"affiliations":[{"raw_affiliation_string":"Kochi University of Technology, Kochi, Japan","institution_ids":["https://openalex.org/I35568498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100733003"],"corresponding_institution_ids":["https://openalex.org/I157507598"],"apc_list":null,"apc_paid":null,"fwci":1.9214,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.87929739,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"403","last_page":"407"},"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":0.9957000017166138,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9818999767303467,"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":0.7313563823699951},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.70316481590271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6643859148025513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6002290844917297},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5908891558647156},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5566918849945068},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3422408401966095},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32225847244262695},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3211114704608917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25066855549812317},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.18086019158363342},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1474924385547638}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7313563823699951},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.70316481590271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6643859148025513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6002290844917297},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5908891558647156},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5566918849945068},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3422408401966095},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32225847244262695},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3211114704608917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25066855549812317},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.18086019158363342},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1474924385547638}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isr50024.2021.9419385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr50024.2021.9419385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2086860466","https://openalex.org/W2098029503"],"related_works":["https://openalex.org/W2000120653","https://openalex.org/W2391902207","https://openalex.org/W1570961203","https://openalex.org/W1962141875","https://openalex.org/W2391412785","https://openalex.org/W2164060583","https://openalex.org/W2188172401","https://openalex.org/W3107507765","https://openalex.org/W1588299616","https://openalex.org/W2329866592"],"abstract_inverted_index":{"Path":[0,22],"planning":[1,23],"is":[2,70,102],"one":[3],"of":[4,9,45,59,66,108],"the":[5,42,46,55,60,67,77,79,88,90,99,106,109,118,129],"important":[6],"research":[7],"fields":[8],"service":[10,26,131],"robots.":[11],"However,":[12,39],"each":[13],"path":[14,52,61,80,127],"plan":[15],"algorithm":[16,69,120],"has":[17],"its":[18],"advantages":[19],"and":[20,54,57,98,125],"disadvantage.":[21],"for":[24,128],"home":[25,130],"robot":[27,132],"arms":[28],"in":[29],"ROS":[30],"usually":[31],"uses":[32,83],"bidirectional":[33],"fast":[34],"extended":[35],"random":[36],"tree(RRT-Connect)":[37],"algorithm.":[38],"due":[40],"to":[41,71,75,86,104],"operation":[43],"principle":[44],"algorithm,":[47],"there":[48],"are":[49,62,92],"many":[50],"redundant":[51,73],"points":[53],"smoothness":[56],"security":[58],"poor.":[63],"The":[64,113],"idea":[65],"improved":[68,119],"delete":[72],"nodes":[74],"simplify":[76],"path,":[78,89],"transition":[81,85],"area":[82],"parabolic":[84],"smooth":[87],"obstacles":[91],"surrounded":[93],"by":[94],"a":[95,122],"ball":[96],"model":[97],"safe":[100],"distance":[101],"calculated":[103],"improve":[105],"safety":[107],"robot's":[110],"working":[111],"process.":[112],"simulation":[114],"results":[115],"show":[116],"that":[117],"plans":[121],"simpler,":[123],"smoother":[124],"safer":[126],"arms.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
