{"id":"https://openalex.org/W2589025697","doi":"https://doi.org/10.1109/cisp-bmei.2016.7852815","title":"A local path planning algorithm under the variable planning size","display_name":"A local path planning algorithm under the variable planning size","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2589025697","doi":"https://doi.org/10.1109/cisp-bmei.2016.7852815","mag":"2589025697"},"language":"en","primary_location":{"id":"doi:10.1109/cisp-bmei.2016.7852815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei.2016.7852815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","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/A5039740748","display_name":"Teng Wan","orcid":"https://orcid.org/0000-0002-2594-8354"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Teng Wan","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029512731","display_name":"Ce Li","orcid":"https://orcid.org/0000-0002-4627-6112"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ce Li","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100667175","display_name":"Yachao Zhang","orcid":"https://orcid.org/0000-0002-1150-8745"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yachao Zhang","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China","institution_ids":["https://openalex.org/I22716506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039740748"],"corresponding_institution_ids":["https://openalex.org/I22716506"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17896521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"781","last_page":"785"},"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":0.9980000257492065,"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/T12288","display_name":"Optimization and Search Problems","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/motion-planning","display_name":"Motion planning","score":0.8700077533721924},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.7607712745666504},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6770666837692261},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6402357220649719},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.6068543791770935},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5921450257301331},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5697900056838989},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5681041479110718},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5267645120620728},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4713572859764099},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4606132507324219},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.45288777351379395},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37390416860580444},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34305712580680847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.298473984003067},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.17477601766586304},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17304036021232605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1519089639186859},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07227778434753418}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8700077533721924},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.7607712745666504},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6770666837692261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6402357220649719},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.6068543791770935},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5921450257301331},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5697900056838989},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5681041479110718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5267645120620728},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4713572859764099},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4606132507324219},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.45288777351379395},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37390416860580444},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34305712580680847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.298473984003067},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.17477601766586304},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17304036021232605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1519089639186859},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07227778434753418},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cisp-bmei.2016.7852815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cisp-bmei.2016.7852815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1979775288","https://openalex.org/W2080644295","https://openalex.org/W2092779881","https://openalex.org/W2112630202","https://openalex.org/W2123030512","https://openalex.org/W2161298439","https://openalex.org/W2182059131","https://openalex.org/W2241478367","https://openalex.org/W2242461718","https://openalex.org/W2273639775","https://openalex.org/W2515797449","https://openalex.org/W7066177329"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2093507260","https://openalex.org/W1904098742","https://openalex.org/W2908094156","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2562628082","https://openalex.org/W2389896347","https://openalex.org/W2157678966"],"abstract_inverted_index":{"The":[0],"research":[1],"in":[2,30,49,66,82,124],"the":[3,6,21,37,46,50,75,90,94,102,112,117,120,128,142,151],"field":[4],"of":[5,10,60,97,119,150],"localization":[7],"and":[8,16,62],"navigation":[9,29],"mobile":[11,103],"robot":[12,27,81,104,129],"is":[13,33,85,93,130],"becoming":[14],"more":[15,17,131],"significant.":[18],"Among":[19],"them,":[20],"local":[22,39,47,136,152],"real-time":[23],"path":[24,40,48,71,98,144,154],"planning":[25,41,45,72,77,113,145],"for":[26,80],"autonomous":[28,109],"complex":[31,126],"environment":[32],"particularly":[34],"important.":[35],"However,":[36],"current":[38],"algorithms":[42],"are":[43],"all":[44],"same":[51],"plan-scope.":[52],"Sometimes,":[53],"this":[54,67,88,106],"situation":[55],"leads":[56],"to":[57,110,116,133],"a":[58,69,125,135,140],"waste":[59],"time":[61],"computing":[63],"resources.":[64],"Therefore,":[65,123],"article,":[68],"new":[70],"method":[73],"called":[74],"variable":[76],"size":[78],"(VPS)":[79],"static":[83],"workspace":[84],"presented.":[86],"In":[87,100],"paper,":[89],"graph":[91],"theory":[92],"basic":[95],"algorithm":[96,107,146],"planning.":[99],"addition,":[101],"using":[105],"could":[108],"decide":[111],"scope":[114],"according":[115],"complexity":[118],"surrounding":[121],"environment.":[122],"environment,":[127],"efficient":[132],"find":[134],"optimal":[137,153],"path.":[138],"As":[139],"result,":[141],"VPS":[143],"can":[147],"plan":[148],"out":[149],"preferably.":[155]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}