{"id":"https://openalex.org/W2990193004","doi":"https://doi.org/10.1145/3366194.3366223","title":"Multi-point traversal path planning of manipulator based on improved RRT algorithm","display_name":"Multi-point traversal path planning of manipulator based on improved RRT algorithm","publication_year":2019,"publication_date":"2019-09-20","ids":{"openalex":"https://openalex.org/W2990193004","doi":"https://doi.org/10.1145/3366194.3366223","mag":"2990193004"},"language":"en","primary_location":{"id":"doi:10.1145/3366194.3366223","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3366194.3366223","pdf_url":null,"source":{"id":"https://openalex.org/S4306523677","display_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","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/A5100404719","display_name":"Zhiqiang Wang","orcid":"https://orcid.org/0000-0002-1789-8414"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Wang","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100705869","display_name":"Hanxu Sun","orcid":"https://orcid.org/0000-0002-8747-9418"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanxu Sun","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004356135","display_name":"Peilin Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peilin Cai","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103746960","display_name":"Xiaojuan Lan","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojuan Lan","raw_affiliation_strings":["School of Network Education, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Network Education, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101487902","display_name":"Long Ma","orcid":"https://orcid.org/0000-0002-8357-424X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Ma","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047357981","display_name":"Dong Wu","orcid":"https://orcid.org/0000-0001-9430-9874"},"institutions":[{"id":"https://openalex.org/I1294606314","display_name":"Beijing Tongren Hospital","ror":"https://ror.org/013e4n276","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I1294606314"]},{"id":"https://openalex.org/I183519381","display_name":"Capital Medical University","ror":"https://ror.org/013xs5b60","country_code":"CN","type":"education","lineage":["https://openalex.org/I183519381"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wu","raw_affiliation_strings":["Department of Traditional Chinese Medicine, Beijing TongRen Hospital, Capital Medical University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Traditional Chinese Medicine, Beijing TongRen Hospital, Capital Medical University, China","institution_ids":["https://openalex.org/I1294606314","https://openalex.org/I183519381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"166","last_page":"171"},"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":0.9955999851226807,"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":0.9915000200271606,"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/tree-traversal","display_name":"Tree traversal","score":0.9073309302330017},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8658068776130676},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.7459700107574463},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6357711553573608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6205106973648071},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5526068806648254},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5099517107009888},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48294776678085327},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.47697266936302185},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.46996304392814636},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4139944016933441},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4000345766544342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2889500856399536},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24037283658981323}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.9073309302330017},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8658068776130676},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7459700107574463},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6357711553573608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6205106973648071},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5526068806648254},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5099517107009888},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48294776678085327},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.47697266936302185},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46996304392814636},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4139944016933441},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4000345766544342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2889500856399536},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24037283658981323},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3366194.3366223","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3366194.3366223","pdf_url":null,"source":{"id":"https://openalex.org/S4306523677","display_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2141664020","https://openalex.org/W2383188490","https://openalex.org/W2746418572","https://openalex.org/W2786891404","https://openalex.org/W2910196661","https://openalex.org/W4247608264","https://openalex.org/W4293570422"],"related_works":["https://openalex.org/W2990193004","https://openalex.org/W2108906364","https://openalex.org/W1660309994","https://openalex.org/W4388759217","https://openalex.org/W3011727645","https://openalex.org/W3211562997","https://openalex.org/W4381433906","https://openalex.org/W2268712943","https://openalex.org/W2914610299","https://openalex.org/W3133563892"],"abstract_inverted_index":{"With":[0],"the":[1,6,21,24,30,56,62,74,92,96,100,106,113,116,131,138,148,154,165,174,178,184,189],"development":[2],"of":[3,26,38,48,60,95,115,133,150,156,167,188],"robot":[4],"technology,":[5],"manipulator":[7,50,117],"has":[8],"been":[9],"used":[10],"in":[11,51],"various":[12],"fields.":[13],"A":[14],"safe":[15],"and":[16,42,70,73,141,153,186],"effective":[17],"motion":[18],"path":[19,31,157,168,195],"is":[20,40,65,81,103,111,170,181],"key":[22],"to":[23,129],"application":[25],"manipulator.":[27],"So":[28,176],"that":[29,177],"planning":[32,86,101,158,169,196],"algorithm":[33,80,128,179,191],"for":[34,55,192],"multi-target":[35],"point":[36],"traversal":[37,194],"manipulators":[39],"studied":[41],"implemented":[43],"on":[44],"a":[45],"6-DOF":[46],"(degree":[47],"freedom)":[49],"this":[52,121,163],"paper.":[53],"Firstly,":[54],"general":[57,107],"working":[58,63],"scene":[59],"manipulators,":[61],"space":[64,69,94],"divided":[66],"into":[67],"obstacle-free":[68],"operation":[71],"space,":[72],"RRT":[75,97,127],"(rapidly":[76],"exploring":[77],"random":[78,135,151],"tree)":[79],"combined":[82],"with":[83],"joint":[84],"trajectory":[85],"algorithm.":[87],"It":[88,145],"will":[89],"effectively":[90,142],"reduce":[91],"search":[93],"algorithm,":[98],"thereby":[99],"efficiency":[102,155],"improved.":[104],"Considering":[105],"task":[108],"requirements":[109],"which":[110],"moving":[112],"end":[114],"between":[118,159],"multiple":[119,134,160],"points,":[120],"paper":[122],"proposes":[123],"an":[124],"efficient":[125],"improved":[126,190],"realize":[130],"construction":[132],"trees":[136,152],"at":[137],"same":[139],"time":[140],"connect":[143],"them.":[144],"can":[146],"improve":[147],"utilization":[149],"points.":[161],"On":[162],"basis,":[164],"result":[166,180],"shortened":[171],"by":[172,199],"reducing":[173],"waypoints.":[175],"optimized.":[182],"Finally,":[183],"effectiveness":[185],"advancement":[187],"multi-point":[193],"are":[197],"verified":[198],"simulation.":[200]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
