{"id":"https://openalex.org/W7151613584","doi":"https://doi.org/10.3390/a19040285","title":"A Robot Path Planning Method Based on a Key Point Encoding Genetic Algorithm","display_name":"A Robot Path Planning Method Based on a Key Point Encoding Genetic Algorithm","publication_year":2026,"publication_date":"2026-04-07","ids":{"openalex":"https://openalex.org/W7151613584","doi":"https://doi.org/10.3390/a19040285"},"language":"en","primary_location":{"id":"doi:10.3390/a19040285","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19040285","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/a19040285","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019129514","display_name":"Chuanyu Yang","orcid":"https://orcid.org/0000-0001-9082-5193"},"institutions":[{"id":"https://openalex.org/I108160477","display_name":"Hebei Agricultural University","ror":"https://ror.org/009fw8j44","country_code":"CN","type":"education","lineage":["https://openalex.org/I108160477"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanyu Yang","raw_affiliation_strings":["Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China","institution_ids":["https://openalex.org/I108160477"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042951311","display_name":"Zhenxue He","orcid":"https://orcid.org/0000-0001-7041-8582"},"institutions":[{"id":"https://openalex.org/I108160477","display_name":"Hebei Agricultural University","ror":"https://ror.org/009fw8j44","country_code":"CN","type":"education","lineage":["https://openalex.org/I108160477"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenxue He","raw_affiliation_strings":["Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China"],"raw_orcid":"https://orcid.org/0000-0001-7041-8582","affiliations":[{"raw_affiliation_string":"Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China","institution_ids":["https://openalex.org/I108160477"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125683314","display_name":"Xiaojun Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I108160477","display_name":"Hebei Agricultural University","ror":"https://ror.org/009fw8j44","country_code":"CN","type":"education","lineage":["https://openalex.org/I108160477"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojun Zhao","raw_affiliation_strings":["Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China","institution_ids":["https://openalex.org/I108160477"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100680939","display_name":"Yijin Wang","orcid":"https://orcid.org/0000-0003-3633-4670"},"institutions":[{"id":"https://openalex.org/I108160477","display_name":"Hebei Agricultural University","ror":"https://ror.org/009fw8j44","country_code":"CN","type":"education","lineage":["https://openalex.org/I108160477"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijin Wang","raw_affiliation_strings":["Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China","institution_ids":["https://openalex.org/I108160477"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100390651","display_name":"Xun Zhang","orcid":"https://orcid.org/0000-0003-3586-9921"},"institutions":[{"id":"https://openalex.org/I108160477","display_name":"Hebei Agricultural University","ror":"https://ror.org/009fw8j44","country_code":"CN","type":"education","lineage":["https://openalex.org/I108160477"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodan Zhang","raw_affiliation_strings":["Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Agricultural Big Data of Hebei Province, Hebei Agricultural University, Baoding 071001, China","institution_ids":["https://openalex.org/I108160477"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5042951311"],"corresponding_institution_ids":["https://openalex.org/I108160477"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.58020044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"4","first_page":"285","last_page":"285"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9624999761581421,"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":0.9624999761581421,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.003000000026077032,"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"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.0015999999595806003,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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":0.8317999839782715},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.7749000191688538},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5807999968528748},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5638999938964844},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.48500001430511475},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4758000075817108},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4702000021934509},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.44609999656677246}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8317999839782715},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.7749000191688538},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.664900004863739},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5807999968528748},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5638999938964844},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.48500001430511475},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4758000075817108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4702000021934509},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.44609999656677246},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.44200000166893005},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4408999979496002},{"id":"https://openalex.org/C2779859299","wikidata":"https://www.wikidata.org/wiki/Q7602527","display_name":"Start point","level":3,"score":0.42820000648498535},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.39800000190734863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.391400009393692},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.38029998540878296},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.37540000677108765},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.35690000653266907},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3456000089645386},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2614000141620636},{"id":"https://openalex.org/C162500139","wikidata":"https://www.wikidata.org/wiki/Q2835887","display_name":"Estimation of distribution algorithm","level":2,"score":0.25119999051094055},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25060001015663147}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a19040285","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19040285","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:db60d005951648a2b852c588e919da56","is_oa":true,"landing_page_url":"https://doaj.org/article/db60d005951648a2b852c588e919da56","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":"Algorithms, Vol 19, Iss 4, p 285 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a19040285","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19040285","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1941079747","display_name":null,"funder_award_id":"F2020204003","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G6452597172","display_name":null,"funder_award_id":"F2025204012","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G6923471883","display_name":null,"funder_award_id":"62102130","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G850744355","display_name":null,"funder_award_id":"F2024204001","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2548458395","https://openalex.org/W3028016972","https://openalex.org/W3091038948","https://openalex.org/W3094704314","https://openalex.org/W3114259420","https://openalex.org/W3137312010","https://openalex.org/W3155305895","https://openalex.org/W3169921076","https://openalex.org/W3193878267","https://openalex.org/W4292862363","https://openalex.org/W4308731068","https://openalex.org/W4317383080","https://openalex.org/W4362664520","https://openalex.org/W4389817684","https://openalex.org/W4390388760","https://openalex.org/W4390970268","https://openalex.org/W4393098597","https://openalex.org/W4396853091","https://openalex.org/W4406794018","https://openalex.org/W4407164990","https://openalex.org/W4407690932","https://openalex.org/W4408423413","https://openalex.org/W4408564267","https://openalex.org/W4408924906","https://openalex.org/W4408974774","https://openalex.org/W4409580934","https://openalex.org/W4411258063","https://openalex.org/W4416226847"],"related_works":[],"abstract_inverted_index":{"Path":[0],"planning":[1,25,63,179],"is":[2,77,98,136],"a":[3,61,93,125,191,198],"key":[4,57],"technology":[5],"in":[6,16,46],"robot":[7,177],"navigation":[8],"and":[9,39,59,106,156,166,197],"has":[10],"long":[11],"attracted":[12],"significant":[13],"attention.":[14],"However,":[15],"scenarios":[17],"with":[18,151],"high-density":[19],"or":[20],"unstructured":[21],"obstacle":[22,153],"distributions,":[23],"path":[24,41,56,62,95,108,117,129,134,178,192,199],"methods":[26],"based":[27,65],"on":[28,66,147],"swarm":[29],"intelligence":[30],"optimization":[31],"still":[32],"face":[33],"issues":[34],"of":[35,189,195,202],"low":[36],"computational":[37,142],"efficiency":[38],"poor":[40],"quality,":[42],"limiting":[43],"their":[44],"performance":[45],"real-time":[47],"applications.":[48],"To":[49],"address":[50],"these":[51],"challenges,":[52],"this":[53],"paper":[54],"defines":[55],"points":[58],"proposes":[60],"method":[64,183],"the":[67,87,163,174,181],"Key-Points":[68],"Encoding":[69],"Genetic":[70],"Algorithm":[71],"(KEGA).":[72],"First,":[73],"an":[74,185],"encoding":[75],"scheme":[76],"designed":[78],"to":[79,89,110,161,173],"map":[80],"key-point":[81,113,122],"sequences":[82,123],"into":[83],"binary":[84],"encodings,":[85],"guiding":[86],"population":[88],"explore":[90],"efficiently.":[91],"Then,":[92],"new":[94],"generation":[96],"module":[97],"integrated":[99],"using":[100],"target":[101],"point":[102],"direction,":[103],"local":[104],"environment,":[105],"historical":[107],"information":[109],"generate":[111],"high-quality":[112],"sequences,":[114],"thereby":[115],"improving":[116],"quality.":[118],"Additionally,":[119],"by":[120],"evaluating":[121],"as":[124],"proxy":[126],"for":[127],"full":[128],"evaluation,":[130],"only":[131],"one":[132],"precise":[133],"construction":[135],"required":[137],"per":[138],"iteration,":[139],"significantly":[140],"reducing":[141],"overhead.":[143],"Experiments":[144],"were":[145],"conducted":[146],"four":[148],"simulated":[149],"maps":[150,160],"diverse":[152],"distribution":[154],"characteristics":[155],"eight":[157],"real-world":[158],"street":[159],"validate":[162],"method\u2019s":[164],"robustness":[165],"generalizability.":[167],"The":[168],"results":[169],"show":[170],"that,":[171],"compared":[172],"existing":[175],"state-of-the-art":[176],"methods,":[180],"proposed":[182],"achieves":[184],"average":[186],"runtime":[187],"savings":[188],"75.40%,":[190],"length":[193],"reduction":[194],"35.65%":[196],"smoothness":[200],"improvement":[201],"68%.":[203]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-04-08T00:00:00"}