{"id":"https://openalex.org/W3115097520","doi":"https://doi.org/10.1109/tencon50793.2020.9293848","title":"Improved Double-tree RRT* Algorithm for Efficient Path Planning of Mobile Robots","display_name":"Improved Double-tree RRT* Algorithm for Efficient Path Planning of Mobile Robots","publication_year":2020,"publication_date":"2020-11-16","ids":{"openalex":"https://openalex.org/W3115097520","doi":"https://doi.org/10.1109/tencon50793.2020.9293848","mag":"3115097520"},"language":"en","primary_location":{"id":"doi:10.1109/tencon50793.2020.9293848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon50793.2020.9293848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE REGION 10 CONFERENCE (TENCON)","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/A5101838263","display_name":"Liquan Jiang","orcid":"https://orcid.org/0000-0002-7203-5953"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liquan Jiang","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100422253","display_name":"Shuting Wang","orcid":"https://orcid.org/0000-0001-5620-9151"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuting Wang","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670645","display_name":"Jie Meng","orcid":"https://orcid.org/0000-0002-4485-4812"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Meng","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395708","display_name":"Xiaolong Zhang","orcid":"https://orcid.org/0000-0003-2808-1220"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Zhang","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014022622","display_name":"Yuanlong Xie","orcid":"https://orcid.org/0000-0003-1158-1587"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanlong Xie","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.15510251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"206","last_page":"211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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":0.984499990940094,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.8481687903404236},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6426072716712952},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6325362324714661},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.622856616973877},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5734773278236389},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5597829222679138},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.550628125667572},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5326064825057983},{"id":"https://openalex.org/keywords/search-tree","display_name":"Search tree","score":0.5182799696922302},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5026507377624512},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45181068778038025},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42414456605911255},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4124825596809387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3621649444103241},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.27271121740341187},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25922393798828125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21791070699691772},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12298378348350525}],"concepts":[{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.8481687903404236},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6426072716712952},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6325362324714661},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.622856616973877},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5734773278236389},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5597829222679138},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.550628125667572},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5326064825057983},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.5182799696922302},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5026507377624512},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45181068778038025},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42414456605911255},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4124825596809387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3621649444103241},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.27271121740341187},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25922393798828125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21791070699691772},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12298378348350525},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tencon50793.2020.9293848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon50793.2020.9293848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE REGION 10 CONFERENCE (TENCON)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2461374934","https://openalex.org/W2530312297","https://openalex.org/W2753014192","https://openalex.org/W2766705522","https://openalex.org/W2796419292","https://openalex.org/W2885205665","https://openalex.org/W2892076060","https://openalex.org/W2911283711","https://openalex.org/W2963130659","https://openalex.org/W2980537763","https://openalex.org/W2982554184","https://openalex.org/W3047963435","https://openalex.org/W3080833149","https://openalex.org/W3102509322","https://openalex.org/W6769059950","https://openalex.org/W6781814502"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2077416514","https://openalex.org/W2797949337","https://openalex.org/W2618632915","https://openalex.org/W2863424594"],"abstract_inverted_index":{"With":[0],"a":[1,56,94,138],"modified":[2],"form":[3],"of":[4,30,45,93,101,124],"the":[5,24,31,51,67,76,89,99,112,121,131],"rapidly-":[6],"exploring":[7],"random":[8],"tree":[9,53],"(RRT),":[10],"RRT*":[11,33,58],"algorithm":[12,60],"is":[13,61,128],"an":[14],"important":[15],"and":[16,27,74,97,106,115,145],"effective":[17],"tool":[18],"for":[19,137],"sampling-based":[20],"path":[21,141],"planning.":[22],"However,":[23],"partial":[25],"extension":[26],"low":[28],"efficiency":[29,144],"traditional":[32],"make":[34],"it":[35,127],"very":[36],"difficult":[37],"to":[38,69,110],"satisfy":[39],"specific":[40],"constraints":[41],"or":[42],"real-time":[43],"requirements":[44],"mobile":[46,125],"robotic":[47],"scenarios.":[48],"Based":[49],"on":[50],"double":[52],"structure":[54,96],"expansion,":[55],"double-tree":[57,95],"(D-RRT*)":[59],"proposed":[62,84,132],"in":[63],"this":[64],"paper":[65],"with":[66,142,149],"ability":[68,92],"improve":[70],"space":[71,118],"collision":[72],"detection":[73],"search":[75,136],"feasible":[77],"connection":[78],"area":[79],"using":[80],"constrained":[81],"nodes.":[82],"The":[83],"method":[85,134],"can":[86,135],"effectively":[87],"utilize":[88],"fast":[90],"preprocessing":[91],"reduce":[98,111],"implementation":[100],"iterations.":[102],"Meanwhile,":[103],"node":[104,113],"filtering":[105],"regression":[107],"are":[108],"designed":[109],"numbers":[114],"prevent":[116],"over":[117],"searching.":[119],"Through":[120],"validation":[122],"examples":[123],"robots,":[126],"shown":[129],"that":[130],"D-RRT*":[133],"global":[139],"safe":[140],"enhanced":[143],"convergence":[146],"as":[147],"compared":[148],"conventional":[150],"methods.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}