{"id":"https://openalex.org/W4206628683","doi":"https://doi.org/10.1109/m2vip49856.2021.9664990","title":"Robust path planning implementation based on a hierarchical optimization approach towards optimal solution","display_name":"Robust path planning implementation based on a hierarchical optimization approach towards optimal solution","publication_year":2021,"publication_date":"2021-11-26","ids":{"openalex":"https://openalex.org/W4206628683","doi":"https://doi.org/10.1109/m2vip49856.2021.9664990"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip49856.2021.9664990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip49856.2021.9664990","pdf_url":null,"source":{"id":"https://openalex.org/S4363608277","display_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","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/A5009022553","display_name":"Peng Duan","orcid":"https://orcid.org/0000-0002-7396-7592"},"institutions":[{"id":"https://openalex.org/I196934937","display_name":"Liaocheng University","ror":"https://ror.org/03yh0n709","country_code":"CN","type":"education","lineage":["https://openalex.org/I196934937"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Duan","raw_affiliation_strings":["School of Computer Science, Liaocheng University, Liaocheng, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Liaocheng University, Liaocheng, China","institution_ids":["https://openalex.org/I196934937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035270901","display_name":"Zhenao Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I196934937","display_name":"Liaocheng University","ror":"https://ror.org/03yh0n709","country_code":"CN","type":"education","lineage":["https://openalex.org/I196934937"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenao Yu","raw_affiliation_strings":["School of Computer Science, Liaocheng University, Liaocheng, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Liaocheng University, Liaocheng, China","institution_ids":["https://openalex.org/I196934937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080266322","display_name":"Xianbiao Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I196934937","display_name":"Liaocheng University","ror":"https://ror.org/03yh0n709","country_code":"CN","type":"education","lineage":["https://openalex.org/I196934937"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianbiao Guo","raw_affiliation_strings":["School of Computer Science, Liaocheng University, Liaocheng, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Liaocheng University, Liaocheng, China","institution_ids":["https://openalex.org/I196934937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004954513","display_name":"Qun Sun","orcid":"https://orcid.org/0000-0003-1211-8359"},"institutions":[{"id":"https://openalex.org/I196934937","display_name":"Liaocheng University","ror":"https://ror.org/03yh0n709","country_code":"CN","type":"education","lineage":["https://openalex.org/I196934937"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qun Sun","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, China","institution_ids":["https://openalex.org/I196934937"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I196934937"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18366762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"783","last_page":"788"},"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":0.9729999899864197,"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":0.9674999713897705,"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":0.8059378266334534},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7399470210075378},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6826233267784119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6800780296325684},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.6699196696281433},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6048762798309326},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5679864287376404},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5422201752662659},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.5297830104827881},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5056216716766357},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49032261967658997},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.45236819982528687},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29711174964904785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2906290292739868},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21587932109832764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11622142791748047}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8059378266334534},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7399470210075378},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6826233267784119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6800780296325684},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6699196696281433},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6048762798309326},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5679864287376404},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5422201752662659},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.5297830104827881},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5056216716766357},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49032261967658997},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.45236819982528687},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29711174964904785},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2906290292739868},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21587932109832764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11622142791748047},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/m2vip49856.2021.9664990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip49856.2021.9664990","pdf_url":null,"source":{"id":"https://openalex.org/S4363608277","display_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6899999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1586309761","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1990318344","https://openalex.org/W2013724094","https://openalex.org/W2078954502","https://openalex.org/W2211552581","https://openalex.org/W2515498963","https://openalex.org/W2743927437","https://openalex.org/W2955399703","https://openalex.org/W3132217834","https://openalex.org/W6605295560","https://openalex.org/W6644448126","https://openalex.org/W6742936712"],"related_works":["https://openalex.org/W4400246438","https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W3139139461","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W2914610299","https://openalex.org/W1660309994"],"abstract_inverted_index":{"The":[0,125],"classical":[1],"sampling":[2,87,132,148],"algorithm,":[3],"RRT*,":[4],"claims":[5],"to":[6,71,92,117,134,160,162,196],"achieve":[7],"an":[8,19,66,163],"optimal":[9,164],"solution":[10,44],"but":[11],"with":[12,85],"a":[13,29,41,78,94,137,141],"slow":[14],"convergence":[15],"rate":[16],"or":[17],"taking":[18],"infinite":[20],"time.":[21],"To":[22],"address":[23],"this":[24,26],"limitation,":[25],"paper":[27],"presents":[28],"novel":[30],"hierarchical":[31],"path":[32,96,143,159,176],"planning":[33],"approach":[34],"which":[35],"mainly":[36],"includes":[37],"two":[38],"stages:":[39],"finding":[40],"high-quality":[42],"initial":[43,51,110],"and":[45],"optimizing":[46],"key":[47,113,127],"nodes":[48,107,128,133,149],"of":[49,59,74,108,121,184,192,200],"the":[50,54,57,72,75,104,109,119,122,130,146,151,158,174,182,198,201],"path.":[52,124,139],"In":[53,101],"first":[55],"stage,":[56,103],"boundaries":[58],"each":[60],"obstacle":[61],"are":[62,115,194],"firstly":[63],"expanded":[64],"by":[65],"amount":[67],"that":[68,173],"is":[69,89,144,171],"equal":[70],"size":[73],"robot":[76],"plus":[77],"safety":[79],"distance.":[80],"An":[81],"improved":[82,179],"RRT*":[83],"algorithm":[84],"monitoring":[86],"strategy":[88],"then":[90],"applied":[91],"find":[93],"collision-free":[95],"as":[97,99,181],"quickly":[98],"possible.":[100],"second":[102],"direct":[105],"reachable":[106],"path,":[111],"namely":[112],"nodes,":[114],"extracted":[116],"describe":[118],"skeleton":[120],"obtained":[123],"selected":[126],"yield":[129],"biasing":[131,147],"make":[135],"up":[136],"new":[138],"When":[140],"better":[142],"found,":[145],"replace":[150],"corresponding":[152],"old":[153],"ones.":[154],"This":[155],"process":[156],"guides":[157],"converge":[161],"one":[165],"while":[166],"maintaining":[167],"its":[168],"reachability.":[169],"It":[170],"foreseeable":[172],"optimized":[175],"will":[177],"be":[178],"continuously":[180],"number":[183],"iterations":[185],"increases.":[186],"Simulation":[187],"results":[188],"in":[189],"various":[190],"types":[191],"environments":[193],"conducted":[195],"demonstrate":[197],"superiority":[199],"proposed":[202],"approach.":[203]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
