{"id":"https://openalex.org/W3002725938","doi":"https://doi.org/10.1109/robio49542.2019.8961753","title":"A Global Path Planning Algorithm for Robots Using Reinforcement Learning","display_name":"A Global Path Planning Algorithm for Robots Using Reinforcement Learning","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002725938","doi":"https://doi.org/10.1109/robio49542.2019.8961753","mag":"3002725938"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5036647024","display_name":"Penggang Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Penggang Gao","raw_affiliation_strings":["Westlake University,Department of Engineering,Hangzhou,China","Department of Engineering, Westlake University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Westlake University,Department of Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I3133055985"]},{"raw_affiliation_string":"Department of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023732813","display_name":"Zihan Liu","orcid":"https://orcid.org/0009-0007-5255-9614"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihan Liu","raw_affiliation_strings":["Westlake University,Department of Engineering,Hangzhou,China","Department of Engineering, Westlake University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Westlake University,Department of Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I3133055985"]},{"raw_affiliation_string":"Department of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061590256","display_name":"Zongkai Wu","orcid":"https://orcid.org/0000-0001-8141-1108"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongkai Wu","raw_affiliation_strings":["Westlake University,Department of Engineering,Hangzhou,China","Department of Engineering, Westlake University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Westlake University,Department of Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I3133055985"]},{"raw_affiliation_string":"Department of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100665183","display_name":"Donglin Wang","orcid":"https://orcid.org/0000-0003-1359-6440"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donglin Wang","raw_affiliation_strings":["Westlake University,Department of Engineering,Hangzhou,China","Department of Engineering, Westlake University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Westlake University,Department of Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I3133055985"]},{"raw_affiliation_string":"Department of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3133055985"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1693","last_page":"1698"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9685999751091003,"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":0.8481663465499878},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8093013167381287},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6999472379684448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6511057615280151},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6136273145675659},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5993550419807434},{"id":"https://openalex.org/keywords/economic-shortage","display_name":"Economic shortage","score":0.5681708455085754},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5269901156425476},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.526742160320282},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.518534243106842},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4609760344028473},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.4549344480037689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4390416741371155},{"id":"https://openalex.org/keywords/a*-search-algorithm","display_name":"A* search algorithm","score":0.4189856946468353},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39219292998313904},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.19939079880714417},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18117278814315796}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8481663465499878},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8093013167381287},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6999472379684448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6511057615280151},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6136273145675659},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5993550419807434},{"id":"https://openalex.org/C194051981","wikidata":"https://www.wikidata.org/wiki/Q1337691","display_name":"Economic shortage","level":3,"score":0.5681708455085754},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5269901156425476},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.526742160320282},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.518534243106842},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4609760344028473},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.4549344480037689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4390416741371155},{"id":"https://openalex.org/C103578098","wikidata":"https://www.wikidata.org/wiki/Q277680","display_name":"A* search algorithm","level":2,"score":0.4189856946468353},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39219292998313904},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.19939079880714417},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18117278814315796},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C2778137410","wikidata":"https://www.wikidata.org/wiki/Q2732820","display_name":"Government (linguistics)","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W131069610","https://openalex.org/W1578208063","https://openalex.org/W1788719447","https://openalex.org/W1997880753","https://openalex.org/W2046223388","https://openalex.org/W2050365936","https://openalex.org/W2092278826","https://openalex.org/W2104332709","https://openalex.org/W2107535513","https://openalex.org/W2134634502","https://openalex.org/W2145339207","https://openalex.org/W2169528473","https://openalex.org/W2528501250","https://openalex.org/W2549200707","https://openalex.org/W2761508569","https://openalex.org/W2793998795","https://openalex.org/W2888156488","https://openalex.org/W2891816981","https://openalex.org/W2965996200","https://openalex.org/W2966948900","https://openalex.org/W4235295823"],"related_works":["https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2368795992","https://openalex.org/W2073991247","https://openalex.org/W4210716962","https://openalex.org/W3208126522","https://openalex.org/W4291700431","https://openalex.org/W4282823369"],"abstract_inverted_index":{"Path":[0],"planning":[1,43],"is":[2,49,59],"the":[3,13,64,68,86,102],"key":[4],"technology":[5],"for":[6,37,51],"autonomous":[7],"mobile":[8],"robots.":[9,52],"In":[10,53],"view":[11],"of":[12,15],"shortage":[14],"paths":[16,65],"found":[17,79],"by":[18,80],"traditional":[19],"best":[20],"first":[21],"search":[22],"(BFS)":[23],"and":[24,34,97,104],"rapidly-exploring":[25],"random":[26],"trees":[27],"(RRT)":[28],"algorithm":[29,44],"which":[30,63],"are":[31,70],"not":[32],"short":[33],"smooth":[35],"enough":[36],"robot":[38],"navigation,":[39],"a":[40,56,74],"new":[41],"global":[42],"combined":[45],"with":[46,67,101],"reinforcement":[47],"learning":[48],"presented":[50],"our":[54],"algorithm,":[55],"path":[57,76],"graph":[58],"established":[60],"firstly,":[61],"in":[62],"collided":[66],"obstacles":[69],"removed":[71],"directly.":[72],"Then":[73],"collision-free":[75],"will":[77],"be":[78],"Q-Learning":[81],"from":[82],"starting":[83],"point":[84],"to":[85],"goal.":[87],"The":[88],"experiment":[89],"results":[90],"illustrate":[91],"that":[92],"it":[93],"can":[94],"generate":[95],"shorter":[96],"smoother":[98],"paths,":[99],"compared":[100],"BFS":[103],"RRT":[105],"algorithm.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
