{"id":"https://openalex.org/W4389247249","doi":"https://doi.org/10.3233/faia230805","title":"Research on Path Planning of Improved RRT Algorithm Under Narrow Channel","display_name":"Research on Path Planning of Improved RRT Algorithm Under Narrow Channel","publication_year":2023,"publication_date":"2023-11-30","ids":{"openalex":"https://openalex.org/W4389247249","doi":"https://doi.org/10.3233/faia230805"},"language":"en","primary_location":{"id":"doi:10.3233/faia230805","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3233/faia230805","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230805","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230805","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018825360","display_name":"Yue Liu","orcid":"https://orcid.org/0009-0002-8267-4190"},"institutions":[{"id":"https://openalex.org/I137506752","display_name":"North China University of Science and Technology","ror":"https://ror.org/04z4wmb81","country_code":"CN","type":"education","lineage":["https://openalex.org/I137506752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Liu","raw_affiliation_strings":["College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China","College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China","institution_ids":["https://openalex.org/I137506752"]},{"raw_affiliation_string":"College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China;","institution_ids":["https://openalex.org/I137506752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039694447","display_name":"Zhiwei Zhao","orcid":"https://orcid.org/0000-0003-2293-689X"},"institutions":[{"id":"https://openalex.org/I137506752","display_name":"North China University of Science and Technology","ror":"https://ror.org/04z4wmb81","country_code":"CN","type":"education","lineage":["https://openalex.org/I137506752"]},{"id":"https://openalex.org/I154341788","display_name":"Tangshan College","ror":"https://ror.org/00rfn0469","country_code":"CN","type":"education","lineage":["https://openalex.org/I154341788"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Zhao","raw_affiliation_strings":["College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China","Tangshan University, Tangshan Hebei 063000, China","College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China","institution_ids":["https://openalex.org/I137506752"]},{"raw_affiliation_string":"Tangshan University, Tangshan Hebei 063000, China","institution_ids":["https://openalex.org/I154341788"]},{"raw_affiliation_string":"College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China;","institution_ids":["https://openalex.org/I137506752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370893","display_name":"Hong Wang","orcid":"https://orcid.org/0000-0002-0279-3767"},"institutions":[{"id":"https://openalex.org/I137506752","display_name":"North China University of Science and Technology","ror":"https://ror.org/04z4wmb81","country_code":"CN","type":"education","lineage":["https://openalex.org/I137506752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Wang","raw_affiliation_strings":["College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China","College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China","institution_ids":["https://openalex.org/I137506752"]},{"raw_affiliation_string":"College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China;","institution_ids":["https://openalex.org/I137506752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048492118","display_name":"Chao Ge","orcid":"https://orcid.org/0000-0002-8157-7519"},"institutions":[{"id":"https://openalex.org/I137506752","display_name":"North China University of Science and Technology","ror":"https://ror.org/04z4wmb81","country_code":"CN","type":"education","lineage":["https://openalex.org/I137506752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Ge","raw_affiliation_strings":["College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, North China University of Science and Technology, Tangshan Hebei 063210, China","institution_ids":["https://openalex.org/I137506752"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4516383,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T12707","display_name":"Vehicle License Plate Recognition","score":0.9689000248908997,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T12546","display_name":"Smart Parking Systems Research","score":0.9635999798774719,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/path","display_name":"Path (computing)","score":0.759655237197876},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7358111143112183},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6572123765945435},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.5931223630905151},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.560543954372406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5487131476402283},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.5376099348068237},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5249210000038147},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.5246874690055847},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4889144003391266},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.444606214761734},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.43934914469718933},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.41620656847953796},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2915443181991577},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2693297266960144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2078317403793335},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08207827806472778}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.759655237197876},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7358111143112183},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6572123765945435},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.5931223630905151},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.560543954372406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5487131476402283},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.5376099348068237},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5249210000038147},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.5246874690055847},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4889144003391266},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.444606214761734},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.43934914469718933},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.41620656847953796},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2915443181991577},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2693297266960144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2078317403793335},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08207827806472778},{"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},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/faia230805","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3233/faia230805","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230805","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"}],"best_oa_location":{"id":"doi:10.3233/faia230805","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3233/faia230805","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230805","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389247249.pdf","grobid_xml":"https://content.openalex.org/works/W4389247249.grobid-xml"},"referenced_works_count":6,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1926428750","https://openalex.org/W2898729230","https://openalex.org/W2977430289","https://openalex.org/W3005647736","https://openalex.org/W3104753760"],"related_works":["https://openalex.org/W2092513144","https://openalex.org/W2165808384","https://openalex.org/W3111684308","https://openalex.org/W3195318120","https://openalex.org/W3034726893","https://openalex.org/W2914610299","https://openalex.org/W4312191671","https://openalex.org/W1660309994","https://openalex.org/W3139139461","https://openalex.org/W2940127232"],"abstract_inverted_index":{"In":[0,80],"complex":[1],"environments":[2],"where":[3],"narrow":[4,45,126],"passageways":[5],"exist,":[6],"there":[7],"are":[8],"problems":[9],"such":[10],"as":[11],"low":[12],"success":[13,75,142],"rate":[14,76],"of":[15,22,59,77,96,131,135],"path":[16,20,78,91,137,140],"finding":[17,47,53],"in":[18,115,125,129],"the":[19,27,37,57,60,68,74,89,94,97,106,120],"planning":[21,141],"mobile":[23],"robots":[24],"based":[25],"on":[26],"traditional":[28],"fast":[29],"expanding":[30],"random":[31],"tree":[32],"(RRT)":[33],"algorithm.":[34],"To":[35],"address":[36],"above":[38],"problems,":[39],"an":[40,51],"RRT":[41,121],"algorithm":[42,54,84,108,122],"for":[43],"autonomous":[44],"channel":[46,61,127],"is":[48,85,103],"proposed,":[49],"using":[50],"entrance":[52,58],"to":[55,66,72,87],"identify":[56],"and":[62,92,113,139],"a":[63,82],"bias":[64,124],"strategy":[65],"rationalize":[67],"sampling":[69],"point":[70],"selection":[71],"improve":[73,93],"planning.":[79],"addition,":[81],"greedy":[83],"introduced":[86],"optimize":[88],"initial":[90],"quality":[95],"planned":[98],"path.":[99],"Through":[100],"experiments,":[101],"it":[102],"shown":[104],"that":[105],"proposed":[107],"improves":[109],"59.6%,":[110],"56%,":[111],"9.3%,":[112],"40%":[114],"four":[116],"aspects":[117],"compared":[118],"with":[119,123],"environment":[128],"terms":[130],"iteration":[132],"time,":[133],"number":[134],"iterations,":[136],"length,":[138],"rate,":[143],"respectively.":[144]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
