{"id":"https://openalex.org/W3159846780","doi":"https://doi.org/10.1109/lra.2021.3074878","title":"A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots","display_name":"A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots","publication_year":2021,"publication_date":"2021-04-22","ids":{"openalex":"https://openalex.org/W3159846780","doi":"https://doi.org/10.1109/lra.2021.3074878","mag":"3159846780"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3074878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3074878","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5004946705","display_name":"Zhiqiang Jian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Jian","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, China","Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-5325-6849","affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048544277","display_name":"Songyi Zhang","orcid":"https://orcid.org/0000-0002-5776-0858"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyi Zhang","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-5776-0858","affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774271","display_name":"Shitao Chen","orcid":"https://orcid.org/0000-0002-9422-3058"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shitao Chen","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, China","Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-9422-3058","affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Shunan Academy of Artificial Intelligence, Ningbo, Zhejiang, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068785475","display_name":"Zhixiong Nan","orcid":"https://orcid.org/0000-0002-6166-0964"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhixiong Nan","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-1608-8257","affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.8513,"has_fulltext":false,"cited_by_count":78,"citation_normalized_percentile":{"value":0.96243609,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"5349","last_page":"5356"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958999752998352,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9817000031471252,"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":0.6481780409812927},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5932896733283997},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.551295816898346},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.535049557685852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5338937044143677},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.5058131217956543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4656817317008972},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3241175711154938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31153547763824463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22101899981498718},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.13177913427352905},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12280431389808655},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06386575102806091}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6481780409812927},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5932896733283997},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.551295816898346},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.535049557685852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5338937044143677},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.5058131217956543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4656817317008972},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3241175711154938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31153547763824463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22101899981498718},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.13177913427352905},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12280431389808655},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06386575102806091},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3074878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3074878","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G1534200972","display_name":null,"funder_award_id":"61773312","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8546144433","display_name":null,"funder_award_id":"61790562","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1935926926","https://openalex.org/W1969483458","https://openalex.org/W1981934656","https://openalex.org/W1996183429","https://openalex.org/W2005354226","https://openalex.org/W2024249108","https://openalex.org/W2032325911","https://openalex.org/W2099144379","https://openalex.org/W2100548780","https://openalex.org/W2148361676","https://openalex.org/W2190016588","https://openalex.org/W2294480821","https://openalex.org/W2744745135","https://openalex.org/W2746802933","https://openalex.org/W2891263320","https://openalex.org/W2954374674","https://openalex.org/W2971106948","https://openalex.org/W2996598994","https://openalex.org/W3103759471","https://openalex.org/W4236251699","https://openalex.org/W6651853181"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231"],"abstract_inverted_index":{"The":[0,73,91,115],"path":[1,113],"planning":[2,51,79,93],"of":[3,56,68,147,170],"mobile":[4],"robots":[5],"is":[6,11,41,60,81,128,141],"an":[7,88],"optimization":[8,84,126],"problem":[9],"that":[10,99],"difficult":[12],"to":[13,17,111],"solve":[14],"directly":[15],"owing":[16],"its":[18],"nonlinear":[19],"characteristics.":[20],"This":[21],"letter":[22],"proposes":[23],"the":[24,33,38,44,49,53,57,65,69,77,82,96,102,108,138,145,148,164,168,171],"\u201cglobal-local\u201d":[25],"Coupling":[26],"Two-Stage":[27],"Path":[28],"Planning":[29],"(CTSP)":[30],"method.":[31,173],"First,":[32],"globally":[34,70],"optimal":[35,54,71],"solution":[36,55],"in":[37,48,76,159],"configuration":[39],"space":[40],"given":[42],"by":[43,64],"global":[45,78,124,149],"planner.":[46],"Then,":[47],"local":[50,58,92,151],"stage,":[52],"environment":[59],"constantly":[61],"searched,":[62],"guided":[63],"prior":[66],"information":[67],"solution.":[72,90],"strategy":[74],"used":[75],"stage":[80,94],"iterative":[83,125],"method":[85,117,127,158],"based":[86],"on":[87],"initial":[89],"adopts":[95],"sampling-evaluation":[97],"strategy,":[98],"is,":[100],"sampling":[101],"candidate":[103],"paths":[104,140],"and":[105,130,150,155],"then":[106],"using":[107],"evaluation":[109],"function":[110,135],"perform":[112],"selection.":[114],"proposed":[116,129,172],"has":[118],"two":[119],"innovations:":[120],"1)":[121],"a":[122,132,160],"novel":[123],"2)":[131],"new":[133],"cost":[134],"for":[136],"evaluating":[137],"sampled":[139],"constructed,":[142],"which":[143],"improves":[144],"coupling":[146],"paths.":[152],"We":[153],"implement":[154],"test":[156],"this":[157],"simulation":[161],"environment,":[162],"where":[163],"experimental":[165],"results":[166],"verify":[167],"effectiveness":[169]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}