{"id":"https://openalex.org/W4390099530","doi":"https://doi.org/10.1109/robio58561.2023.10354552","title":"Robotic Arm Motion Planning for Obstacle Avoidance Based on the CMN-RRT * Method","display_name":"Robotic Arm Motion Planning for Obstacle Avoidance Based on the CMN-RRT * Method","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099530","doi":"https://doi.org/10.1109/robio58561.2023.10354552"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5111075606","display_name":"Yihang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I9086337","display_name":"Taiyuan University of Technology","ror":"https://ror.org/03kv08d37","country_code":"CN","type":"education","lineage":["https://openalex.org/I9086337"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihang Wu","raw_affiliation_strings":["Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","institution_ids":["https://openalex.org/I9086337"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102602717","display_name":"Ruihua Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I9086337","display_name":"Taiyuan University of Technology","ror":"https://ror.org/03kv08d37","country_code":"CN","type":"education","lineage":["https://openalex.org/I9086337"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruihua Guo","raw_affiliation_strings":["Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","institution_ids":["https://openalex.org/I9086337"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102596089","display_name":"Zhaosheng Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I9086337","display_name":"Taiyuan University of Technology","ror":"https://ror.org/03kv08d37","country_code":"CN","type":"education","lineage":["https://openalex.org/I9086337"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaosheng Yan","raw_affiliation_strings":["Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","institution_ids":["https://openalex.org/I9086337"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102596090","display_name":"Guoshun Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I9086337","display_name":"Taiyuan University of Technology","ror":"https://ror.org/03kv08d37","country_code":"CN","type":"education","lineage":["https://openalex.org/I9086337"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoshun Cui","raw_affiliation_strings":["Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","institution_ids":["https://openalex.org/I9086337"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054841089","display_name":"Kun Yang","orcid":"https://orcid.org/0000-0002-8961-082X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I9086337","display_name":"Taiyuan University of Technology","ror":"https://ror.org/03kv08d37","country_code":"CN","type":"education","lineage":["https://openalex.org/I9086337"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Yang","raw_affiliation_strings":["Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","Shandong University, Jinan City, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","institution_ids":["https://openalex.org/I9086337"]},{"raw_affiliation_string":"Shandong University, Jinan City, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089590351","display_name":"Kai Zhuo","orcid":"https://orcid.org/0000-0003-2966-9376"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]},{"id":"https://openalex.org/I9086337","display_name":"Taiyuan University of Technology","ror":"https://ror.org/03kv08d37","country_code":"CN","type":"education","lineage":["https://openalex.org/I9086337"]}],"countries":["CN","KR"],"is_corresponding":false,"raw_author_name":"Kai Zhuo","raw_affiliation_strings":["Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","Sungkyunkwan University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Taiyuan University of Technology,College of Electronic Information and Optical Engineering,Jinzhong City,China,030024","institution_ids":["https://openalex.org/I9086337"]},{"raw_affiliation_string":"Sungkyunkwan University, Seoul, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4855,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.73771617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9944999814033508,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9696999788284302,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8534804582595825},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7901409864425659},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6905115842819214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.654624342918396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6527015566825867},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6439837217330933},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5897564888000488},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5872862935066223},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5568476915359497},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4686170220375061},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3478301763534546},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1614271104335785}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8534804582595825},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7901409864425659},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6905115842819214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.654624342918396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6527015566825867},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6439837217330933},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5897564888000488},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5872862935066223},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5568476915359497},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4686170220375061},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3478301763534546},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1614271104335785},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"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":16,"referenced_works":["https://openalex.org/W1593328645","https://openalex.org/W1976930960","https://openalex.org/W2112271657","https://openalex.org/W2141664020","https://openalex.org/W2185377362","https://openalex.org/W2372754308","https://openalex.org/W2513129091","https://openalex.org/W2775071556","https://openalex.org/W3005403700","https://openalex.org/W3049559636","https://openalex.org/W3102121895","https://openalex.org/W3127637871","https://openalex.org/W3215747734","https://openalex.org/W4205962758","https://openalex.org/W4220819105","https://openalex.org/W4226004919"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"With":[0],"the":[1,4,8,23,31,39,51,63,74,78,88,98,103,109,114,118,124,131,137,140,147],"development":[2],"of":[3,53,62,77,83,146],"robotic":[5,13,27,148],"arm":[6,14,28],"industry,":[7],"current":[9],"industrial":[10],"requirements":[11],"for":[12,139],"motion":[15],"planning":[16,35],"are":[17],"gradually":[18],"increasing.":[19],"The":[20,45,67,81],"article":[21],"uses":[22],"KINOVA":[24],"JACO":[25],"GEN2":[26],"to":[29,72,92],"study":[30,46],"obstacle":[32,59,104],"avoidance":[33,60,105],"path":[34,89,125],"algorithm":[36,116],"based":[37],"on":[38],"Central":[40],"Multi-Node":[41],"(CMN)":[42],"RRT*":[43,65,133],"algorithm.":[44,66,80,134],"is":[47,71,85],"mainly":[48],"aimed":[49],"at":[50,97],"problems":[52],"long":[54],"calculation":[55,119],"time":[56,100,120],"and":[57,101,123,143],"poor":[58],"effect":[61],"traditional":[64,79,132],"main":[68],"improved":[69],"method":[70,76],"optimize":[73],"sampling":[75],"idea":[82],"connect":[84],"introduced":[86],"in":[87],"growth":[90],"process":[91,106],"make":[93,102],"multiple":[94],"trees":[95],"grow":[96],"same":[99],"faster.":[107],"Finally,":[108],"experimental":[110],"results":[111],"show":[112],"that":[113],"CMN-RRT*":[115],"improves":[117],"by":[121,127],"69.8%":[122],"quality":[126],"6.1%":[128],"compared":[129],"with":[130],"It":[135],"laid":[136],"foundation":[138],"subsequent":[141],"visual":[142],"tactile":[144],"fusion":[145],"arm.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}