{"id":"https://openalex.org/W3208956781","doi":"https://doi.org/10.1109/jas.2021.1004275","title":"Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning","display_name":"Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning","publication_year":2021,"publication_date":"2021-10-20","ids":{"openalex":"https://openalex.org/W3208956781","doi":"https://doi.org/10.1109/jas.2021.1004275","mag":"3208956781"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2021.1004275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004275","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-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/A5100437461","display_name":"Tianyi Zhang","orcid":"https://orcid.org/0000-0003-2223-5460"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyi Zhang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043461784","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0001-9139-0291"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Shenzhen Research Institute, The Chinese University of Hong Kong, Hong Kong, China","Southern University of Science and Technology, Shenzhen, China","The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Research Institute, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1456,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.95390925,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"64","last_page":"74"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9986000061035156,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7399855852127075},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6931836009025574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6926645040512085},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6207666397094727},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5749222636222839},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5587655305862427},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5408738851547241},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5382964015007019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48730695247650146},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45738595724105835},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4232194125652313},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.41533902287483215},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4148838222026825},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3910500109195709},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33090394735336304},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3232678771018982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29306530952453613},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19782480597496033}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7399855852127075},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6931836009025574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6926645040512085},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6207666397094727},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5749222636222839},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5587655305862427},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5408738851547241},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5382964015007019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48730695247650146},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45738595724105835},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4232194125652313},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.41533902287483215},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4148838222026825},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3910500109195709},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33090394735336304},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3232678771018982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29306530952453613},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19782480597496033},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/jas.2021.1004275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004275","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1901129140","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2054585537","https://openalex.org/W2055473513","https://openalex.org/W2099144379","https://openalex.org/W2099471712","https://openalex.org/W2103120971","https://openalex.org/W2128990851","https://openalex.org/W2156969101","https://openalex.org/W2188365844","https://openalex.org/W2194775991","https://openalex.org/W2765140685","https://openalex.org/W2804078698","https://openalex.org/W2806118840","https://openalex.org/W2884466206","https://openalex.org/W2894417726","https://openalex.org/W2951640385","https://openalex.org/W2952009315","https://openalex.org/W2954360087","https://openalex.org/W2963091558","https://openalex.org/W2963150697","https://openalex.org/W2963439114","https://openalex.org/W2963516936","https://openalex.org/W2963649420","https://openalex.org/W2963881378","https://openalex.org/W2986349107","https://openalex.org/W2996899864","https://openalex.org/W3005978365","https://openalex.org/W3011646207","https://openalex.org/W3042076971","https://openalex.org/W3098423347","https://openalex.org/W3102121895","https://openalex.org/W3127672035","https://openalex.org/W4243385754","https://openalex.org/W4320013936","https://openalex.org/W6687045409","https://openalex.org/W6752378368","https://openalex.org/W6780411386"],"related_works":["https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W1997369033","https://openalex.org/W1957996277","https://openalex.org/W2591763881","https://openalex.org/W2914610299"],"abstract_inverted_index":{"Sampling-based":[0],"path":[1,9,23,64,109,128],"planning":[2,65],"is":[3,43,54,77,97,112,117],"a":[4,12,21,61,72,107,120,132],"popular":[5],"methodology":[6],"for":[7,126],"robot":[8],"planning.":[10],"With":[11],"uniform":[13],"sampling":[14,125],"strategy":[15],"to":[16,50,67,79,122,137,168,178],"explore":[17],"the":[18,28,33,37,40,47,51,81,89,103,127,139,142,146,158,161,165,169,175,179,188,195],"state":[19],"space,":[20],"feasible":[22,108],"can":[24],"be":[25],"found":[26],"without":[27,91],"complex":[29],"geometric":[30],"modeling":[31],"of":[32,39,134,141,157,160],"configuration":[34],"space.":[35],"However,":[36],"quality":[38,159],"initial":[41,162],"solution":[42,53,163],"not":[44],"guaranteed,":[45],"and":[46,145,164],"convergence":[48,166],"speed":[49,167],"optimal":[52,170],"slow.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"present":[60],"novel":[62],"image-based":[63],"algorithm":[66],"overcome":[68],"these":[69],"limitations.":[70],"Specifically,":[71],"generative":[73],"adversarial":[74],"network":[75],"(GAN)":[76],"designed":[78],"take":[80],"environment":[82],"map":[83],"(denoted":[84],"as":[85,88,119],"RGB":[86,100],"image)":[87],"input":[90],"other":[92],"preprocessing":[93],"works.":[94],"The":[95],"output":[96],"also":[98,184],"an":[99],"image":[101],"where":[102],"promising":[104,115],"region":[105,116],"(where":[106],"probably":[110],"exists)":[111],"segmented.":[113],"This":[114],"utilized":[118],"heuristic":[121],"achieve":[123],"non-uniform":[124],"planner.":[129],"We":[130],"conduct":[131],"number":[133],"simulation":[135],"experiments":[136],"validate":[138],"effectiveness":[140],"proposed":[143],"method,":[144],"results":[147],"demonstrate":[148],"that":[149],"our":[150,182],"method":[151,183],"performs":[152],"much":[153],"better":[154],"in":[155],"terms":[156],"solution.":[171],"Furthermore,":[172],"apart":[173],"from":[174,194],"environments":[176,189],"similar":[177],"training":[180,196],"set,":[181],"works":[185],"well":[186],"on":[187],"which":[190],"are":[191],"very":[192],"different":[193],"set.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}