{"id":"https://openalex.org/W4214555309","doi":"https://doi.org/10.1109/lra.2022.3152687","title":"A Robust Reference Path Selection Method for Path Planning Algorithm","display_name":"A Robust Reference Path Selection Method for Path Planning Algorithm","publication_year":2022,"publication_date":"2022-02-22","ids":{"openalex":"https://openalex.org/W4214555309","doi":"https://doi.org/10.1109/lra.2022.3152687"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3152687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3152687","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/A5101538149","display_name":"Ziang Zhang","orcid":"https://orcid.org/0000-0002-4551-3489"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziang Zhang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4551-3489","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070905181","display_name":"Ruozhu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruozhu Wu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010088695","display_name":"Yu Pan","orcid":"https://orcid.org/0000-0001-7261-8297"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Pan","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430226","display_name":"You Wang","orcid":"https://orcid.org/0000-0003-2766-1581"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"You Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2766-1581","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101684908","display_name":"Yixu Wang","orcid":"https://orcid.org/0000-0001-9519-5063"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixu Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0665-0736","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100690711","display_name":"Xiaoqing Guan","orcid":"https://orcid.org/0000-0003-3398-0415"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqing Guan","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3398-0415","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021002037","display_name":"Jie Hao","orcid":"https://orcid.org/0000-0003-1276-2363"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jie Hao","raw_affiliation_strings":["Luoteng Hangzhou Techonlogy Co., Ltd., Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1276-2363","affiliations":[{"raw_affiliation_string":"Luoteng Hangzhou Techonlogy Co., Ltd., Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405987","display_name":"Jin Zhang","orcid":"https://orcid.org/0000-0002-7464-2247"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Zhang","raw_affiliation_strings":["School of Computer and Communication Engineering, Changsha University of Science and Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-7464-2247","affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100406295","display_name":"Guang Li","orcid":"https://orcid.org/0000-0002-1253-3985"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guang Li","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1253-3985","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5101538149"],"corresponding_institution_ids":["https://openalex.org/I4391767838"],"apc_list":null,"apc_paid":null,"fwci":1.8367,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.86280098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"4837","last_page":"4844"},"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":0.9934999942779541,"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":0.9907000064849854,"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":0.7506147027015686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.721566379070282},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6394962072372437},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5537242293357849},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4983510971069336},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47712278366088867},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4698407053947449},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4630667567253113},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.41917863488197327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37301671504974365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23902657628059387},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20218247175216675}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7506147027015686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.721566379070282},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6394962072372437},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5537242293357849},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4983510971069336},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47712278366088867},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4698407053947449},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4630667567253113},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.41917863488197327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37301671504974365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23902657628059387},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20218247175216675},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3152687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3152687","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":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2229360071","display_name":null,"funder_award_id":"ICT2021B10","funder_id":"https://openalex.org/F4320326952","funder_display_name":"State Key Laboratory of Industrial Control Technology"}],"funders":[{"id":"https://openalex.org/F4320326952","display_name":"State Key Laboratory of Industrial Control Technology","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1976930960","https://openalex.org/W1996183429","https://openalex.org/W2005354226","https://openalex.org/W2096158814","https://openalex.org/W2107338474","https://openalex.org/W2110762409","https://openalex.org/W2306644740","https://openalex.org/W2345973286","https://openalex.org/W2403683192","https://openalex.org/W2414947275","https://openalex.org/W2427601938","https://openalex.org/W2589063743","https://openalex.org/W2744745135","https://openalex.org/W2772821814","https://openalex.org/W2774451424","https://openalex.org/W2904612118","https://openalex.org/W2906776647","https://openalex.org/W2911075136","https://openalex.org/W2962963952","https://openalex.org/W3003849070","https://openalex.org/W3102121895","https://openalex.org/W3116367434","https://openalex.org/W3129762237","https://openalex.org/W3132217834","https://openalex.org/W3143901407","https://openalex.org/W3159846780"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2359600231","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"a":[3,36,64],"general":[4],"robust":[5],"reference":[6,109],"path":[7,40,70],"selection":[8],"method":[9],"(RPSM)":[10],"that":[11,42,53,101],"can":[12],"be":[13,61,76],"integrated":[14],"into":[15],"current":[16],"existing":[17],"motion":[18],"planning":[19],"algorithms":[20],"is":[21],"proposed":[22,33],"to":[23,138],"improve":[24],"the":[25,68,72,82,87,104,113,119,139],"mobile":[26],"performance":[27],"of":[28,39,86,95,108],"autonomous":[29],"patrol":[30],"robots.":[31],"The":[32],"RPSM":[34,102],"maintains":[35],"dynamic":[37],"array":[38],"candidates":[41,59],"contains":[43],"newly":[44],"found":[45],"paths,":[46,49,110],"optimal":[47],"historical":[48],"and":[50,67,84,106,111,126],"hybrid":[51,142],"paths":[52],"incorporate":[54],"local":[55],"trajectories.":[56],"All":[57],"these":[58],"will":[60,75],"evaluated":[62],"in":[63,97,136],"unified":[65],"criterion,":[66],"best":[69],"with":[71,91,130],"minimal":[73],"cost":[74,135],"presented":[77],"for":[78],"trajectory":[79,122],"tracking,":[80],"ensuring":[81],"consistency":[83],"smoothness":[85],"actual":[88,121],"motion.":[89],"Experiments":[90],"two":[92],"different":[93],"kinds":[94],"robots":[96],"various":[98],"scenarios":[99],"confirm":[100],"enriches":[103],"diversity":[105],"robustness":[107],"improves":[112],"execution":[114,128],"efficiency":[115],"by":[116],"significantly":[117],"reducing":[118],"average":[120],"distance,":[123],"orientation":[124],"change,":[125],"total":[127],"time,":[129],"an":[131],"acceptable":[132],"extra":[133],"computational":[134],"comparison":[137],"corresponding":[140],"original":[141],"A*":[143],"algorithm.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}