{"id":"https://openalex.org/W3036426691","doi":"https://doi.org/10.1155/2020/6371814","title":"Warehouse-Oriented Optimal Path Planning for Autonomous Mobile Fire-Fighting Robots","display_name":"Warehouse-Oriented Optimal Path Planning for Autonomous Mobile Fire-Fighting Robots","publication_year":2020,"publication_date":"2020-06-20","ids":{"openalex":"https://openalex.org/W3036426691","doi":"https://doi.org/10.1155/2020/6371814","mag":"3036426691"},"language":"en","primary_location":{"id":"doi:10.1155/2020/6371814","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/6371814","pdf_url":"https://downloads.hindawi.com/journals/scn/2020/6371814.pdf","source":{"id":"https://openalex.org/S120683614","display_name":"Security and Communication Networks","issn_l":"1939-0114","issn":["1939-0114","1939-0122"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Security and Communication Networks","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/scn/2020/6371814.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052138338","display_name":"Yongtao Liu","orcid":"https://orcid.org/0000-0002-8404-9199"},"institutions":[{"id":"https://openalex.org/I132210918","display_name":"North China Institute of Science and Technology","ror":"https://ror.org/0096c7651","country_code":"CN","type":"education","lineage":["https://openalex.org/I132210918"]},{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong-tao Liu","raw_affiliation_strings":["College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China","North China Institute of Science and Technology, East Yanjiao, Beijing 065201, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China","institution_ids":["https://openalex.org/I52158045"]},{"raw_affiliation_string":"North China Institute of Science and Technology, East Yanjiao, Beijing 065201, China","institution_ids":["https://openalex.org/I132210918"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034701679","display_name":"Ruizhi Sun","orcid":"https://orcid.org/0000-0001-7267-5283"},"institutions":[{"id":"https://openalex.org/I4210117733","display_name":"National Animal Husbandry Service","ror":"https://ror.org/022ekqa73","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210117733","https://openalex.org/I4210127390","https://openalex.org/I4210151987"]},{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rui-zhi Sun","raw_affiliation_strings":["College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China","Scientific Research Base for Integrated Technologies of Precision Agriculture (Animal Husbandry), The Ministry of Agriculture, Beijing 100083, China"],"raw_orcid":"https://orcid.org/0000-0001-7267-5283","affiliations":[{"raw_affiliation_string":"College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China","institution_ids":["https://openalex.org/I52158045"]},{"raw_affiliation_string":"Scientific Research Base for Integrated Technologies of Precision Agriculture (Animal Husbandry), The Ministry of Agriculture, Beijing 100083, China","institution_ids":["https://openalex.org/I4210117733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081282314","display_name":"Tianyi Zhang","orcid":"https://orcid.org/0000-0002-2560-0358"},"institutions":[{"id":"https://openalex.org/I159385669","display_name":"Chiba University","ror":"https://ror.org/01hjzeq58","country_code":"JP","type":"education","lineage":["https://openalex.org/I159385669"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tian-yi Zhang","raw_affiliation_strings":["Graduate School of Advanced Integration Science, Chiba University, Chiba 263-8522, Japan","Wedo Electric Solutions Technology Co. Ltd., Beijing 100095, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Integration Science, Chiba University, Chiba 263-8522, Japan","institution_ids":["https://openalex.org/I159385669"]},{"raw_affiliation_string":"Wedo Electric Solutions Technology Co. Ltd., Beijing 100095, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058913446","display_name":"Xiang-nan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang-nan Zhang","raw_affiliation_strings":["College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107114898","display_name":"Li Li","orcid":"https://orcid.org/0000-0002-9392-7862"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Li","raw_affiliation_strings":["College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101549501","display_name":"Guoqing Shi","orcid":"https://orcid.org/0000-0002-1869-7390"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guo-qing Shi","raw_affiliation_strings":["College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China","institution_ids":["https://openalex.org/I52158045"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034701679"],"corresponding_institution_ids":["https://openalex.org/I4210117733","https://openalex.org/I52158045"],"apc_list":{"value":2100,"currency":"USD","value_usd":2100},"apc_paid":{"value":2100,"currency":"USD","value_usd":2100},"fwci":1.5691,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.85514135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"2020","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9369999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/algorithm","display_name":"Algorithm","score":0.7335644364356995},{"id":"https://openalex.org/keywords/inflection-point","display_name":"Inflection point","score":0.6898088455200195},{"id":"https://openalex.org/keywords/backtracking","display_name":"Backtracking","score":0.67545086145401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6542579531669617},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6101694703102112},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4945935904979706},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4635182321071625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38268470764160156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33455973863601685},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2619295120239258},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16285988688468933},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08331802487373352}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.7335644364356995},{"id":"https://openalex.org/C74545648","wikidata":"https://www.wikidata.org/wiki/Q212794","display_name":"Inflection point","level":2,"score":0.6898088455200195},{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.67545086145401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6542579531669617},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6101694703102112},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4945935904979706},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4635182321071625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38268470764160156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33455973863601685},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2619295120239258},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16285988688468933},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08331802487373352},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2020/6371814","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/6371814","pdf_url":"https://downloads.hindawi.com/journals/scn/2020/6371814.pdf","source":{"id":"https://openalex.org/S120683614","display_name":"Security and Communication Networks","issn_l":"1939-0114","issn":["1939-0114","1939-0122"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Security and Communication Networks","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1a74fdeb4fda48a89c5587b61aa3e42f","is_oa":true,"landing_page_url":"https://doaj.org/article/1a74fdeb4fda48a89c5587b61aa3e42f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Security and Communication Networks, Vol 2020 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2020/6371814","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/6371814","pdf_url":"https://downloads.hindawi.com/journals/scn/2020/6371814.pdf","source":{"id":"https://openalex.org/S120683614","display_name":"Security and Communication Networks","issn_l":"1939-0114","issn":["1939-0114","1939-0122"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Security and Communication Networks","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.75,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G659790128","display_name":null,"funder_award_id":"3142018047","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3036426691.pdf","grobid_xml":"https://content.openalex.org/works/W3036426691.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1484361977","https://openalex.org/W1969472392","https://openalex.org/W1969483458","https://openalex.org/W1998364234","https://openalex.org/W2021330138","https://openalex.org/W2092513962","https://openalex.org/W2094544836","https://openalex.org/W2131823539","https://openalex.org/W2596947985","https://openalex.org/W2727281634","https://openalex.org/W2894022047","https://openalex.org/W2901040503","https://openalex.org/W2909046140","https://openalex.org/W2911353037","https://openalex.org/W2911692934","https://openalex.org/W2916106301","https://openalex.org/W2941191010","https://openalex.org/W2941875011","https://openalex.org/W2946627595","https://openalex.org/W2951407407","https://openalex.org/W3005912525"],"related_works":["https://openalex.org/W2760348722","https://openalex.org/W2783885583","https://openalex.org/W2120095724","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0,174],"order":[1],"to":[2,14,84,115,128,194,233,294],"achieve":[3,303],"the":[4,22,25,47,53,59,68,73,108,129,132,138,158,167,171,179,182,195,198,202,207,210,213,218,222,228,234,239,250,256,263,270,273,281,286,298,304,308,314,320],"fastest":[5],"fire-fighting":[6,11],"purpose,":[7],"warehouse":[8,203],"autonomous":[9],"mobile":[10],"robots":[12,242,293],"need":[13],"make":[15],"an":[16],"overall":[17],"optimal":[18,54],"planning":[19,44,190,219,237,299,322],"based":[20],"on":[21,297],"principle":[23],"of":[24,131,170,181,201,209,238,272,306,310],"shortest":[26,42,48],"time":[27,169],"for":[28,56,157,262,269,280],"their":[29],"traveling":[30,146,153],"path.":[31,173],"A<mml:math":[32,61,98,120,252],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[33,62,99,121,253],"id=\"M1\"><mml:mi>\u2217</mml:mi></mml:math>":[34],"algorithm":[35,64,101,118,123,161,229,258],"is":[36,50,65,102,113,224],"considered":[37],"as":[38],"a":[39],"very":[40],"ideal":[41],"path":[43,49,55,139,148,154,189,220,236,264,300,321],"algorithm,":[45,255],"but":[46],"not":[51],"necessarily":[52],"robots.":[57],"Furthermore,":[58],"conventional":[60,159,251],"id=\"M2\"><mml:mi>\u2217</mml:mi></mml:math>":[63],"affected":[66],"by":[67,152,260,267,278],"search":[69],"neighborhood":[70],"restriction":[71],"and":[72,107,119,145,206,221,276,301,318],"theoretical":[74],"characteristics,":[75],"so":[76,163,226],"there":[77],"are":[78,82,143,150],"many":[79],"problems,":[80],"which":[81],"closing":[83],"obstacles,":[85],"more":[86,89],"inflection":[87,109,133,140,155,311],"points,":[88,91,312],"redundant":[90],"larger":[92],"total":[93],"turning":[94,283,316],"angle,":[95,317],"etc.":[96],"Therefore,":[97],"id=\"M3\"><mml:mi>\u2217</mml:mi></mml:math>":[100],"improved":[103,257],"in":[104,124,135,188,243],"eight":[105],"ways,":[106],"point":[110,134,141],"prior":[111],"strategy":[112],"adopted":[114],"compromise":[116],"Floyd":[117,160],"id=\"M4\"><mml:mi>\u2217</mml:mi></mml:math>":[122],"this":[125,136,176],"paper.":[126],"According":[127,193],"criterion":[130],"paper,":[137],"arrays":[142],"constructed":[144],"all":[147],"nodes":[149],"replaced":[151],"points":[156],"backtracking,":[162],"it":[164],"greatly":[165],"reduces":[166,259,266,277],"backtracking":[168],"smooth":[172],"addition,":[175],"paper":[177],"adopts":[178],"method":[180,290],"extended":[183],"grid":[184,204],"map":[185,205,245],"obstacle":[186],"space":[187],"safety":[191],"distance.":[192],"relationship":[196],"between":[197,217],"actual":[199],"scale":[200],"size":[208,241],"robot":[211],"body,":[212],"different":[214,240],"safe":[215,235],"distance":[216],"obstacles":[223],"obtained,":[225],"that":[227],"can":[230,291],"be":[231],"applied":[232],"any":[244],"environments.":[246],"Finally,":[247],"compared":[248],"with":[249],"id=\"M5\"><mml:mi>\u2217</mml:mi></mml:math>":[254],"7.846%":[261],"length,":[265],"71.429%":[268],"number":[271,309],"cumulative":[274,282,315],"turns,":[275],"75%":[279],"angle":[284],"through":[285],"experiment.":[287],"The":[288],"proposed":[289],"ensure":[292],"move":[295],"fast":[296],"ultimately":[302],"goal":[305],"reducing":[307,313,319],"time.":[323]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}