{"id":"https://openalex.org/W4380986199","doi":"https://doi.org/10.1155/2023/5098156","title":"Research on Static/Dynamic Global Path Planning Based on Improved A \u2217 Algorithm for Mobile Robots","display_name":"Research on Static/Dynamic Global Path Planning Based on Improved A \u2217 Algorithm for Mobile Robots","publication_year":2023,"publication_date":"2023-06-16","ids":{"openalex":"https://openalex.org/W4380986199","doi":"https://doi.org/10.1155/2023/5098156"},"language":"en","primary_location":{"id":"doi:10.1155/2023/5098156","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/5098156","pdf_url":"https://downloads.hindawi.com/journals/jr/2023/5098156.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2023/5098156.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087200155","display_name":"Huifang Bao","orcid":"https://orcid.org/0000-0003-3861-0595"},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huifang Bao","raw_affiliation_strings":["School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":"https://orcid.org/0000-0003-3861-0595","affiliations":[{"raw_affiliation_string":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101811190","display_name":"Jie Fang","orcid":"https://orcid.org/0000-0002-1382-9884"},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Fang","raw_affiliation_strings":["School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":"https://orcid.org/0000-0002-1382-9884","affiliations":[{"raw_affiliation_string":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044082813","display_name":"Chaohai Wang","orcid":"https://orcid.org/0000-0002-3133-1959"},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaohai Wang","raw_affiliation_strings":["Anhui Wanxiang Power Equipment Co., Ltd., Lu\u2019an 237012, China","School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Wanxiang Power Equipment Co., Ltd., Lu\u2019an 237012, China","institution_ids":[]},{"raw_affiliation_string":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089459701","display_name":"Zebin Li","orcid":"https://orcid.org/0000-0003-3285-1857"},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zebin Li","raw_affiliation_strings":["School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054604687","display_name":"Jinsi Zhang","orcid":"https://orcid.org/0009-0008-8044-1127"},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinsi Zhang","raw_affiliation_strings":["School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101821013","display_name":"Chuansheng Wang","orcid":"https://orcid.org/0000-0003-4340-7831"},"institutions":[{"id":"https://openalex.org/I4210147745","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147745"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuansheng Wang","raw_affiliation_strings":["Anhui Wanxiang Power Equipment Co., Ltd., Lu\u2019an 237012, China","School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Wanxiang Power Equipment Co., Ltd., Lu\u2019an 237012, China","institution_ids":[]},{"raw_affiliation_string":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China","institution_ids":["https://openalex.org/I4210147745"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5087200155","https://openalex.org/A5101811190"],"corresponding_institution_ids":["https://openalex.org/I4210147745"],"apc_list":{"value":925,"currency":"USD","value_usd":925},"apc_paid":{"value":925,"currency":"USD","value_usd":925},"fwci":0.2852,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.4969126,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2023","issue":null,"first_page":"1","last_page":"19"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9882000088691711,"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/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/computer-science","display_name":"Computer science","score":0.73345947265625},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6105070114135742},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4643761217594147},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4113154411315918},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33809465169906616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2714104652404785},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10723581910133362}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.73345947265625},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6105070114135742},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4643761217594147},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4113154411315918},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33809465169906616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2714104652404785},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10723581910133362}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2023/5098156","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/5098156","pdf_url":"https://downloads.hindawi.com/journals/jr/2023/5098156.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2a625b50c1fd481b887991f834b45940","is_oa":true,"landing_page_url":"https://doaj.org/article/2a625b50c1fd481b887991f834b45940","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":"Journal of Robotics, Vol 2023 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2023/5098156","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/5098156","pdf_url":"https://downloads.hindawi.com/journals/jr/2023/5098156.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1505899449","display_name":null,"funder_award_id":"WXZR202120","funder_id":"https://openalex.org/F4320326664","funder_display_name":"Anhui Provincial Department of Education"},{"id":"https://openalex.org/G1705819149","display_name":null,"funder_award_id":"WXZR202015","funder_id":"https://openalex.org/F4320326664","funder_display_name":"Anhui Provincial Department of Education"},{"id":"https://openalex.org/G5627007520","display_name":null,"funder_award_id":"WXZR202120","funder_id":"https://openalex.org/F4320330928","funder_display_name":"West Anhui University"},{"id":"https://openalex.org/G5872706872","display_name":null,"funder_award_id":"2022AH051675","funder_id":"https://openalex.org/F4320326664","funder_display_name":"Anhui Provincial Department of Education"},{"id":"https://openalex.org/G6517871077","display_name":null,"funder_award_id":"WXZR202015","funder_id":"https://openalex.org/F4320330928","funder_display_name":"West Anhui University"},{"id":"https://openalex.org/G8346224427","display_name":null,"funder_award_id":"2022AH051675","funder_id":"https://openalex.org/F4320330928","funder_display_name":"West Anhui University"}],"funders":[{"id":"https://openalex.org/F4320321435","display_name":"Anhui University","ror":"https://ror.org/05th6yx34"},{"id":"https://openalex.org/F4320326664","display_name":"Anhui Provincial Department of Education","ror":null},{"id":"https://openalex.org/F4320330928","display_name":"West Anhui University","ror":"https://ror.org/046ft6c74"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4380986199.pdf","grobid_xml":"https://content.openalex.org/works/W4380986199.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1966712078","https://openalex.org/W1969472392","https://openalex.org/W2007852842","https://openalex.org/W2229572887","https://openalex.org/W2735145284","https://openalex.org/W2772085743","https://openalex.org/W2791159917","https://openalex.org/W2791860092","https://openalex.org/W2797929303","https://openalex.org/W2799820594","https://openalex.org/W2904494904","https://openalex.org/W2911283711","https://openalex.org/W2947243191","https://openalex.org/W2953348599","https://openalex.org/W2982527909","https://openalex.org/W2997241943","https://openalex.org/W3008274320","https://openalex.org/W3011014715","https://openalex.org/W3013255137","https://openalex.org/W3014441269","https://openalex.org/W3017223648","https://openalex.org/W3111208933","https://openalex.org/W3126834919","https://openalex.org/W3137312010","https://openalex.org/W3175454409","https://openalex.org/W3209236165","https://openalex.org/W3217542308","https://openalex.org/W4200087875","https://openalex.org/W4285250951","https://openalex.org/W4290717612","https://openalex.org/W4294274435","https://openalex.org/W4296740977","https://openalex.org/W4309153855","https://openalex.org/W4309680605","https://openalex.org/W4311233133","https://openalex.org/W4407476455"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0,169],"view":[1],"of":[2,5,41,49,58,69,72,87,107,150,197],"the":[3,16,39,42,46,50,56,59,67,70,84,98,105,108,112,119,130,137,146,151,157,162,173,179,195],"problems":[4],"A":[6,34,88,139,175],"\u2217":[7,35,89,140,176],"algorithm":[8,36,90,141,177,182],"in":[9,129,161],"path":[10,17,61,114,153,160,199],"planning,":[11],"such":[12],"as":[13,102],"collision":[14],"risk,":[15],"is":[18,62,91,115],"not":[19,143],"necessarily":[20],"optimal,":[21],"and":[22,55,148],"there":[23],"are":[24,53],"numerous":[25],"turning":[26],"nodes.":[27],"Therefore,":[28],"this":[29],"study":[30],"proposes":[31],"an":[32],"improved":[33,63,138,174],"to":[37,78,93,97,103,124,183,187],"improve":[38],"quality":[40],"planned":[43,60,109,113,152,159],"path.":[44,131],"First,":[45],"8-neighborhood":[47],"children":[48,74],"parent":[51],"node":[52],"generated,":[54],"security":[57],"by":[64,76,117],"further":[65],"investigating":[66],"properties":[68],"neighbors":[71],"these":[73],"one":[75,77],"reasonably":[79],"set":[80],"virtual":[81],"obstacles.":[82],"Second,":[83],"heuristic":[85],"function":[86],"ameliorated":[92],"make":[94],"it":[95],"closer":[96],"actual":[99],"cost,":[100],"so":[101],"enhance":[104],"accuracy":[106],"path;":[110],"finally,":[111],"smoothed":[116],"using":[118],"cubic":[120],"uniform":[121],"B-spline":[122],"curve":[123],"eliminate":[125],"corner":[126],"sharp":[127],"points":[128],"The":[132],"simulation":[133],"results":[134],"show":[135],"that":[136],"can":[142],"only":[144],"ensure":[145],"safety":[147],"smoothness":[149],"but":[154],"also":[155],"obtain":[156],"shortest":[158],"static":[163],"environment":[164],"with":[165,178],"different":[166],"obstacle":[167,191],"rates.":[168],"addition,":[170],"we":[171],"combine":[172],"dynamic":[180,190],"window":[181],"enable":[184],"mobile":[185],"robots":[186],"realize":[188],"real-time":[189],"avoidance":[192],"while":[193],"ensuring":[194],"optimality":[196],"global":[198],"planning.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2023-06-17T00:00:00"}
