{"id":"https://openalex.org/W4414165925","doi":"https://doi.org/10.1109/tase.2025.3607959","title":"Targeted Path Optimization Using RRT-MWOAII: A Hybrid Approach to Enhanced Smoothness in Robotic Path Planning","display_name":"Targeted Path Optimization Using RRT-MWOAII: A Hybrid Approach to Enhanced Smoothness in Robotic Path Planning","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4414165925","doi":"https://doi.org/10.1109/tase.2025.3607959"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3607959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3607959","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5031086100","display_name":"Izzati Saleh","orcid":"https://orcid.org/0000-0001-9177-3866"},"institutions":[{"id":"https://openalex.org/I139322472","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63","country_code":"MY","type":"education","lineage":["https://openalex.org/I139322472"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Izzati Saleh","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Engineering Campus, Nibong Tebal, Penang, Malaysia","School of Electric &#x0026; Electronic Engineering, Universiti Sains Malaysia Engineering Campus, Nibong Tebal, Pulau Pinang, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Engineering Campus, Nibong Tebal, Penang, Malaysia","institution_ids":["https://openalex.org/I139322472"]},{"raw_affiliation_string":"School of Electric &#x0026; Electronic Engineering, Universiti Sains Malaysia Engineering Campus, Nibong Tebal, Pulau Pinang, Malaysia","institution_ids":["https://openalex.org/I139322472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078045425","display_name":"Mohamad Hazwan Mohd Ghazali","orcid":"https://orcid.org/0000-0001-5306-0013"},"institutions":[{"id":"https://openalex.org/I885383172","display_name":"National University of Malaysia","ror":"https://ror.org/00bw8d226","country_code":"MY","type":"education","lineage":["https://openalex.org/I885383172"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Mohamad Hazwan Mohd Ghazali","raw_affiliation_strings":["Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi, Selangor, Malaysia","Department of Mechanical &#x0026; Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Lingkungan Ilmu, Bangi, Selangor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi, Selangor, Malaysia","institution_ids":["https://openalex.org/I885383172"]},{"raw_affiliation_string":"Department of Mechanical &#x0026; Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Lingkungan Ilmu, Bangi, Selangor, Malaysia","institution_ids":["https://openalex.org/I885383172"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051196219","display_name":"Wan Rahiman","orcid":"https://orcid.org/0000-0003-1662-7484"},"institutions":[{"id":"https://openalex.org/I139322472","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63","country_code":"MY","type":"education","lineage":["https://openalex.org/I139322472"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Wan Rahiman","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Engineering Campus, Nibong Tebal, Penang, Malaysia","School of Electric &#x0026; Electronic Engineering, Universiti Sains Malaysia Engineering Campus, Nibong Tebal, Pulau Pinang, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Universiti Sains Malaysia, Engineering Campus, Nibong Tebal, Penang, Malaysia","institution_ids":["https://openalex.org/I139322472"]},{"raw_affiliation_string":"School of Electric &#x0026; Electronic Engineering, Universiti Sains Malaysia Engineering Campus, Nibong Tebal, Pulau Pinang, Malaysia","institution_ids":["https://openalex.org/I139322472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031086100"],"corresponding_institution_ids":["https://openalex.org/I139322472"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23176689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"21269","last_page":"21283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.970300018787384,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9307000041007996,"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":0.8141000270843506},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6859999895095825},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6198999881744385},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4424000084400177},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.38769999146461487},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.37929999828338623},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.36640000343322754},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.34049999713897705}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8141000270843506},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6859999895095825},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6571999788284302},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6198999881744385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5156000256538391},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4424000084400177},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38769999146461487},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.37929999828338623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3711000084877014},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.36640000343322754},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34360000491142273},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.34049999713897705},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.30649998784065247},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2971000075340271},{"id":"https://openalex.org/C126661757","wikidata":"https://www.wikidata.org/wiki/Q4925641","display_name":"Random search","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C135320971","wikidata":"https://www.wikidata.org/wiki/Q1868524","display_name":"Local search (optimization)","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.26829999685287476},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.2639999985694885}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3607959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3607959","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G119284298","display_name":null,"funder_award_id":"304/PELECT/6050423/C121","funder_id":"https://openalex.org/F4320317041","funder_display_name":"Collaborative Research in Engineering, Science and Technology Centre"}],"funders":[{"id":"https://openalex.org/F4320317041","display_name":"Collaborative Research in Engineering, Science and Technology Centre","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2288650507","https://openalex.org/W2290883490","https://openalex.org/W2902731060","https://openalex.org/W2998553334","https://openalex.org/W3022310485","https://openalex.org/W3046097707","https://openalex.org/W3092179763","https://openalex.org/W3124827602","https://openalex.org/W3127863483","https://openalex.org/W3169053299","https://openalex.org/W3187511524","https://openalex.org/W3198138968","https://openalex.org/W4280590673","https://openalex.org/W4285108207","https://openalex.org/W4304480790","https://openalex.org/W4309441548","https://openalex.org/W4311443350","https://openalex.org/W4324092551","https://openalex.org/W4364382741","https://openalex.org/W4379409379","https://openalex.org/W4386586170","https://openalex.org/W4394805038","https://openalex.org/W4395956865","https://openalex.org/W4396217052","https://openalex.org/W4396857150","https://openalex.org/W4400977559","https://openalex.org/W4401796270"],"related_works":[],"abstract_inverted_index":{"Path":[0],"planning":[1,67,242,278],"in":[2,17,97,137,220,243,319,365,369,376],"robotics":[3,244],"and":[4,13,19,69,81,132,169,180,197,210,226,245,253,258,349,360,382],"automation":[5,246],"often":[6,247],"demands":[7],"solutions":[8,249],"that":[9,59,205,250,280,337],"effectively":[10],"balance":[11,251],"efficiency":[12,252],"path":[14,66,76,144,224,254,277,317,358,370,380],"smoothness,":[15],"particularly":[16],"diverse":[18,257],"large-scale":[20,260],"environments.":[21,261],"To":[22],"address":[23],"this,":[24],"this":[25],"paper":[26],"presents":[27],"the":[28,42,61,64,70,74,78,84,88,91,98,102,110,121,134,138,147,164,186,221,265,286,294,339,343,377],"Rapidly":[29,44,266,287],"Exploring":[30,45,267,288],"Random":[31,46,268,289],"Tree-Modified":[32,47,269],"Whale":[33,48,188,193,270,296],"Optimization":[34,49,189,194,271,297],"Algorithm":[35,50,190,195,200,272,298],"II":[36,273,299],"(RRT-MWOAII),":[37,274],"an":[38,275],"enhanced":[39],"version":[40],"of":[41,63,90,104,116,163,342],"previous":[43],"(RRT-MWOA)":[51],"approach.":[52],"The":[53,94,301,323],"RRT-MWOAII":[54,99,324],"is":[55,101,113],"a":[56,105,117,156,217,227,308,320,333,351,366,373,383],"hybrid":[57],"technique":[58,279],"combines":[60],"strengths":[62],"RRT":[65,75,92,178,223,305,379],"method":[68,292],"MWOAII.":[71],"It":[72],"utilizes":[73],"as":[77,185],"initial":[79,222,310,378],"solution":[80,112,153],"then":[82,312],"applies":[83],"MWOAII":[85,206],"to":[86,129,141,240,306,315,394],"improve":[87,316],"smoothness":[89,225,255,318,359,381],"path.":[93,165],"key":[95],"advancement":[96],"algorithm":[100,148,302],"incorporation":[103],"targeted":[106,114,126,321,334],"global":[107,122,335],"search,":[108,158],"where":[109],"weakest":[111,135,340],"instead":[115],"random":[118],"one":[119],"during":[120],"search":[123,336,353],"phase.":[124],"This":[125,262],"approach":[127],"helps":[128],"efficiently":[130],"identify":[131,307],"refine":[133],"link":[136],"solution,":[139],"leading":[140],"improved":[142],"overall":[143],"optimization.":[145],"Additionally,":[146],"further":[149],"refines":[150,338],"its":[151,214,395],"local":[152,355],"by":[154,284],"employing":[155],"neighborhood":[157,352],"which":[159],"allows":[160],"for":[161,354],"fine-tuning":[162],"Simulations":[166],"were":[167],"conducted":[168],"evaluated":[170],"on":[171],"seven":[172],"benchmarks,":[173],"including":[174],"RRT,":[175],"RRT*,":[176],"Bidirectional":[177],"(BiRRT),":[179],"state-of-the-art":[181],"optimization":[182],"methods":[183],"such":[184],"original":[187],"(WOA),":[191],"Improved":[192],"(IWOA)":[196],"Sparrow":[198],"Search":[199],"(SpSA).":[201],"Experimental":[202],"results":[203],"show":[204],"consistently":[207],"produced":[208],"shorter":[209],"smoother":[211],"paths,":[212],"outperforming":[213],"predecessor":[215],"with":[216,293,372],"31.6%":[218,374],"improvement":[219,375],"21.05%":[228,384],"better":[229,385],"average":[230,386],"smooth":[231,387],"cost":[232,388],"across":[233,256,389],"all":[234],"nine":[235,390],"maps.":[236],"<italic":[237],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[238],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[239],"Practitioners</i>\u2014Path":[241],"requires":[248],"sometimes":[259],"work":[263],"introduces":[264],"advanced":[276],"addresses":[281],"these":[282],"challenges":[283],"combining":[285],"Tree":[290],"(RRT)":[291],"Modified":[295],"(MWOAII).":[300],"first":[303],"uses":[304],"feasible":[309],"path,":[311,345],"employs":[313],"MWOA":[314],"manner.":[322],"brings":[325],"two":[326],"significant":[327],"enhancements":[328],"over":[329],"prior":[330],"approaches:":[331],"1)":[332],"segment":[341],"current":[344],"reducing":[346],"redundant":[347],"computations,":[348],"2)":[350],"fine-tuning,":[356],"improving":[357],"continuity.":[361],"These":[362],"improvements":[363],"result":[364],"substantial":[367],"gain":[368],"quality,":[371],"test":[391],"environments":[392],"compared":[393],"predecessor.":[396]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}