{"id":"https://openalex.org/W7131066644","doi":"https://doi.org/10.1109/robio66223.2025.11376344","title":"B-AC: A Path Smoothing Algorithm for Mobile Robots Utilizing Path Backtracking and Arc Construction Strategies","display_name":"B-AC: A Path Smoothing Algorithm for Mobile Robots Utilizing Path Backtracking and Arc Construction Strategies","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131066644","doi":"https://doi.org/10.1109/robio66223.2025.11376344"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11376344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5126645666","display_name":"Mingyan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyan Ma","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009680322","display_name":"Shixin Mao","orcid":"https://orcid.org/0009-0000-9208-9935"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Shixin Mao","raw_affiliation_strings":["JT-Intelligent (Shenzhen) Technology Company Ltd.,Shenzhen,China,518063"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JT-Intelligent (Shenzhen) Technology Company Ltd.,Shenzhen,China,518063","institution_ids":["https://openalex.org/I4210152380","https://openalex.org/I4210153682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126653380","display_name":"Weinan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126587648","display_name":"Yisheng Guan","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076365705","display_name":"Haifei Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetics and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1408","last_page":"1413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8278999924659729,"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":0.8278999924659729,"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":0.0203000009059906,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.015300000086426735,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/backtracking","display_name":"Backtracking","score":0.8381999731063843},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6485000252723694},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6230999827384949},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6180999875068665},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5669000148773193},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5647000074386597},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5227000117301941},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48579999804496765}],"concepts":[{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.8381999731063843},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6485000252723694},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6230999827384949},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6180999875068665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5799000263214111},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5669000148773193},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5647000074386597},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5227000117301941},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5024999976158142},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48579999804496765},{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.47859999537467957},{"id":"https://openalex.org/C83415579","wikidata":"https://www.wikidata.org/wiki/Q161973","display_name":"Arc (geometry)","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.4032000005245209},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39739999175071716},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.33340001106262207},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3255000114440918},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.314300000667572},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29600000381469727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2858999967575073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27889999747276306},{"id":"https://openalex.org/C22251595","wikidata":"https://www.wikidata.org/wiki/Q670036","display_name":"Arc length","level":3,"score":0.2728999853134155},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2587999999523163},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25870001316070557},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25380000472068787},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11376344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4861091077327728,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2097897618","https://openalex.org/W2273777546","https://openalex.org/W2793473523","https://openalex.org/W2890807499","https://openalex.org/W2966763222","https://openalex.org/W3044306737","https://openalex.org/W3127464295","https://openalex.org/W3213362389","https://openalex.org/W4253965664","https://openalex.org/W4321608011","https://openalex.org/W4366827431"],"related_works":[],"abstract_inverted_index":{"Ensuring":[0],"collision-free":[1],"movement":[2],"for":[3],"mobile":[4,50,124],"robots":[5,51],"within":[6],"irregular":[7],"environments,":[8],"including":[9],"dead-end":[10],"scenarios,":[11],"under":[12],"kinematic":[13,77],"constraints":[14],"and":[15,23,37,79,84,99,109,116],"task":[16],"requirements":[17],"remains":[18],"challenging.":[19],"This":[20,111],"paper":[21],"proposes":[22],"validates":[24],"a":[25,34],"path":[26,74,106],"smoothing":[27],"post-processing":[28],"algorithm":[29,90],"-":[30,32],"B-AC":[31,89],"incorporating":[33],"backtracking":[35,44],"sub-planner":[36,45,67],"an":[38],"arc":[39,65],"construction":[40,66],"subplanner.":[41],"An":[42],"A*-based":[43],"is":[46,68],"introduced":[47],"to":[48,70,94],"prevent":[49],"from":[52],"entering":[53],"dead":[54],"ends":[55],"by":[56],"identifying":[57],"tangent":[58],"points":[59],"of":[60,105],"path-tangent":[61],"circles.":[62],"A":[63],"three-segment":[64],"proposed":[69],"modify":[71],"paths,":[72],"considering":[73],"deviation":[75],"optimization,":[76],"constraints,":[78],"collision":[80],"avoidance":[81],"requirements.":[82],"Simulations":[83],"experiments":[85],"confirm":[86],"that":[87],"the":[88],"demonstrates":[91],"superior":[92],"performance":[93],"B-spline":[95],"interpolation,":[96],"Dubins":[97],"curves":[98],"Gradient":[100],"descent":[101],"method":[102],"in":[103,118],"terms":[104],"deviation,":[107],"length,":[108],"curvature.":[110],"enhancement":[112],"benefits":[113],"navigation":[114],"safety":[115],"applicability":[117],"applications":[119],"such":[120],"as":[121],"outdoor":[122],"cleaning":[123],"robots.":[125]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}
