{"id":"https://openalex.org/W4392940109","doi":"https://doi.org/10.1109/jiot.2024.3379361","title":"Path Planning of Autonomous Mobile Robot in Comprehensive Unknown Environment Using Deep Reinforcement Learning","display_name":"Path Planning of Autonomous Mobile Robot in Comprehensive Unknown Environment Using Deep Reinforcement Learning","publication_year":2024,"publication_date":"2024-03-19","ids":{"openalex":"https://openalex.org/W4392940109","doi":"https://doi.org/10.1109/jiot.2024.3379361"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2024.3379361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3379361","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","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/A5029988126","display_name":"Zekun Bai","orcid":"https://orcid.org/0009-0001-0022-9361"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zekun Bai","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0001-0022-9361","affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036651046","display_name":"Hui Pang","orcid":"https://orcid.org/0000-0001-7550-8376"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Pang","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0001-7550-8376","affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111149689","display_name":"Zhaonian He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaonian He","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114137377","display_name":"Bingfeng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Zhao","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0007-7347-2374","affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100748162","display_name":"Tong Wang","orcid":"https://orcid.org/0000-0003-4961-5092"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Wang","raw_affiliation_strings":["School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, China","institution_ids":["https://openalex.org/I4210131919"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.5606,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.99707688,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"11","issue":"12","first_page":"22153","last_page":"22166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9380000233650208,"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":0.9380000233650208,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7915826439857483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7809969186782837},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7779576778411865},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7585474252700806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5266192555427551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49793100357055664},{"id":"https://openalex.org/keywords/automated-planning-and-scheduling","display_name":"Automated planning and scheduling","score":0.4374397397041321},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42700162529945374},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4258957505226135},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33872300386428833},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.322844922542572},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.17759597301483154}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7915826439857483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7809969186782837},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7779576778411865},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7585474252700806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5266192555427551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49793100357055664},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.4374397397041321},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42700162529945374},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4258957505226135},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33872300386428833},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.322844922542572},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.17759597301483154}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2024.3379361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3379361","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5471661301","display_name":null,"funder_award_id":"51675423","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7173113317","display_name":null,"funder_award_id":"2023-JCZD-31","funder_id":"https://openalex.org/F4320324173","funder_display_name":"Natural Science Foundation of Shaanxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324173","display_name":"Natural Science Foundation of Shaanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1589747210","https://openalex.org/W2069710460","https://openalex.org/W2145339207","https://openalex.org/W2168309003","https://openalex.org/W2746553466","https://openalex.org/W2799820594","https://openalex.org/W2898165977","https://openalex.org/W2904316432","https://openalex.org/W2906415336","https://openalex.org/W2911695803","https://openalex.org/W2917089854","https://openalex.org/W2953430606","https://openalex.org/W2959091704","https://openalex.org/W2972975270","https://openalex.org/W2998786991","https://openalex.org/W2999713046","https://openalex.org/W3011227764","https://openalex.org/W3084268808","https://openalex.org/W3088197938","https://openalex.org/W3108081931","https://openalex.org/W3173581352","https://openalex.org/W3174645049","https://openalex.org/W3181843513","https://openalex.org/W3186325801","https://openalex.org/W3195498235","https://openalex.org/W4200502395","https://openalex.org/W4200538026","https://openalex.org/W4205189571","https://openalex.org/W4205649782","https://openalex.org/W4214735187","https://openalex.org/W4214897012","https://openalex.org/W4225136271","https://openalex.org/W4285189951","https://openalex.org/W4285818829","https://openalex.org/W4292088822","https://openalex.org/W4294754641","https://openalex.org/W4298946154","https://openalex.org/W4304118970","https://openalex.org/W4308159282","https://openalex.org/W4313479325","https://openalex.org/W4319068706","https://openalex.org/W4319601910","https://openalex.org/W4321783814","https://openalex.org/W4368353504","https://openalex.org/W4388169159","https://openalex.org/W4390480832","https://openalex.org/W4390887207","https://openalex.org/W4392125035"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W3033920833","https://openalex.org/W2402852349"],"abstract_inverted_index":{"In":[0],"real":[1],"world":[2],"situations,":[3],"some":[4],"unavoidable":[5],"problems":[6],"like":[7],"significant":[8],"dependence":[9],"on":[10],"environment":[11],"information,":[12],"long":[13],"inference":[14],"time":[15],"and":[16,75,135,145,197],"weak":[17],"anti-disturbance":[18],"ability":[19],"are":[20,169],"often":[21],"involved":[22],"in":[23,201,215],"path":[24,47,55,63,92,152,176],"planning":[25,48,64,177],"of":[26,59,65,90],"autonomous":[27],"mobile":[28],"robot":[29],"(AMR)":[30],"under":[31],"unknown":[32,203,216],"environments.":[33,204,217],"To":[34],"solve":[35],"these":[36],"issues,":[37],"this":[38],"paper":[39],"proposes":[40],"an":[41,53,114,120],"improved":[42,191],"deep":[43,116],"reinforcement":[44],"learning":[45],"based":[46],"algorithm":[49,193,208],"to":[50,84,105,128,139,160,172,212],"find":[51],"out":[52,171],"optimized":[54,115],"for":[56,149],"a":[57,70,95],"class":[58],"AMRs.":[60],"Frist,":[61],"the":[62,76,86,107,110,131,141,146,150,162,166,206],"AMR":[66,108,151],"is":[67,82,103,126,158],"described":[68],"as":[69],"Markov":[71],"decision":[72],"process":[73],"framework,":[74],"Double":[77],"Deep":[78],"Q":[79],"Network":[80],"(DDQN)":[81],"utilized":[83,159],"obtain":[85],"optimal":[87],"adaptive":[88,121],"solutions":[89],"AMRs":[91],"planning.":[93,153],"Second,":[94],"comprehensive":[96,202],"reward":[97],"function":[98,102],"integrated":[99],"with":[100,119,130,184],"heuristic":[101],"designed":[104,127],"navigate":[106],"into":[109],"target":[111],"area.":[112],"Afterwards,":[113],"neural":[117],"network":[118],"e-greedy":[122],"action":[123],"selection":[124],"policy":[125],"deal":[129],"trade-off":[132],"between":[133],"exploration":[134],"exploitation,":[136],"thus":[137],"further":[138],"improve":[140],"global":[142,199],"searching":[143],"capability":[144],"convergence":[147],"performance":[148],"Moreover,":[154],"Bezier":[155],"curve":[156],"theory":[157],"smooth":[161],"planned":[163],"path.":[164],"Finally,":[165],"comparative":[167],"simulations":[168],"carried":[170],"validate":[173],"our":[174,190],"proposed":[175],"algorithm.":[178],"The":[179],"results":[180],"show":[181],"that,":[182],"compared":[183],"DQN,":[185],"A*,":[186],"RRT,":[187],"APF":[188],"algorithms,":[189],"DDQN":[192],"can":[194],"produce":[195],"safer":[196],"shorter":[198],"paths":[200],"Meanwhile,":[205],"IDDQN":[207],"has":[209],"strong":[210],"adaptability":[211],"random":[213],"disturbances":[214]},"counts_by_year":[{"year":2026,"cited_by_count":28},{"year":2025,"cited_by_count":57},{"year":2024,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}