{"id":"https://openalex.org/W4316672849","doi":"https://doi.org/10.3390/s23021041","title":"Improved Bidirectional RRT* Algorithm for Robot Path Planning","display_name":"Improved Bidirectional RRT* Algorithm for Robot Path Planning","publication_year":2023,"publication_date":"2023-01-16","ids":{"openalex":"https://openalex.org/W4316672849","doi":"https://doi.org/10.3390/s23021041","pmid":"https://pubmed.ncbi.nlm.nih.gov/36679837"},"language":"en","primary_location":{"id":"doi:10.3390/s23021041","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23021041","pdf_url":"https://www.mdpi.com/1424-8220/23/2/1041/pdf?version=1673931526","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/2/1041/pdf?version=1673931526","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090665216","display_name":"Xin Peng","orcid":"https://orcid.org/0000-0003-1654-2130"},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Xin","raw_affiliation_strings":["Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China","institution_ids":["https://openalex.org/I106079672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413293","display_name":"Xiaomin Wang","orcid":"https://orcid.org/0000-0002-1761-7459"},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaomin Wang","raw_affiliation_strings":["Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China","institution_ids":["https://openalex.org/I106079672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386594","display_name":"Xiaoli Liu","orcid":"https://orcid.org/0000-0002-9224-8649"},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoli Liu","raw_affiliation_strings":["Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China","institution_ids":["https://openalex.org/I106079672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048136551","display_name":"Yanhui Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhui Wang","raw_affiliation_strings":["Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China"],"raw_orcid":"https://orcid.org/0000-0002-2264-6238","affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China","institution_ids":["https://openalex.org/I106079672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024843779","display_name":"Zhibo Zhai","orcid":"https://orcid.org/0000-0003-4851-6754"},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhibo Zhai","raw_affiliation_strings":["Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China","institution_ids":["https://openalex.org/I106079672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030254400","display_name":"Xiqing Ma","orcid":"https://orcid.org/0000-0002-8524-9037"},"institutions":[{"id":"https://openalex.org/I106079672","display_name":"Hebei University of Engineering","ror":"https://ror.org/036h65h05","country_code":"CN","type":"education","lineage":["https://openalex.org/I106079672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiqing Ma","raw_affiliation_strings":["Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China","institution_ids":["https://openalex.org/I106079672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100413293"],"corresponding_institution_ids":["https://openalex.org/I106079672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":6.057,"has_fulltext":true,"cited_by_count":62,"citation_normalized_percentile":{"value":0.97691066,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"23","issue":"2","first_page":"1041","last_page":"1041"},"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":0.9959999918937683,"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":0.9889000058174133,"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/randomness","display_name":"Randomness","score":0.8143056035041809},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.7435138821601868},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6584867835044861},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6467284560203552},{"id":"https://openalex.org/keywords/inflection-point","display_name":"Inflection point","score":0.5518843531608582},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5358816981315613},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.515949547290802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49651509523391724},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4603760838508606},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43766576051712036},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41424429416656494},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3248864412307739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19587162137031555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19152742624282837},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1193520724773407}],"concepts":[{"id":"https://openalex.org/C125112378","wikidata":"https://www.wikidata.org/wiki/Q176640","display_name":"Randomness","level":2,"score":0.8143056035041809},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7435138821601868},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6584867835044861},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6467284560203552},{"id":"https://openalex.org/C74545648","wikidata":"https://www.wikidata.org/wiki/Q212794","display_name":"Inflection point","level":2,"score":0.5518843531608582},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5358816981315613},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.515949547290802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49651509523391724},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4603760838508606},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43766576051712036},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41424429416656494},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3248864412307739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19587162137031555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19152742624282837},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1193520724773407},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011996","descriptor_name":"Records","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011996","descriptor_name":"Records","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011996","descriptor_name":"Records","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s23021041","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23021041","pdf_url":"https://www.mdpi.com/1424-8220/23/2/1041/pdf?version=1673931526","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:36679837","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36679837","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9862987","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9862987","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9862987/pdf/sensors-23-01041.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:bceb2a2e90dc4ef98ef1af38c7c02a8a","is_oa":true,"landing_page_url":"https://doaj.org/article/bceb2a2e90dc4ef98ef1af38c7c02a8a","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":"Sensors, Vol 23, Iss 2, p 1041 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/2/1041/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23021041","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 2; Pages: 1041","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23021041","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23021041","pdf_url":"https://www.mdpi.com/1424-8220/23/2/1041/pdf?version=1673931526","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6100000143051147}],"awards":[{"id":"https://openalex.org/G1697542634","display_name":null,"funder_award_id":"ZD2021024","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G212708546","display_name":null,"funder_award_id":"21422301290","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G2748687589","display_name":null,"funder_award_id":"QN2021209","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G3154369367","display_name":null,"funder_award_id":"52001105","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G4061036197","display_name":null,"funder_award_id":"BJ2021012","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G803490020","display_name":null,"funder_award_id":"E2022402107","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"}],"funders":[{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4316672849.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1559616954","https://openalex.org/W2089408256","https://openalex.org/W2387166600","https://openalex.org/W2743927437","https://openalex.org/W2765140685","https://openalex.org/W2792887144","https://openalex.org/W2892076060","https://openalex.org/W2909688514","https://openalex.org/W2997061791","https://openalex.org/W2997139301","https://openalex.org/W3002132318","https://openalex.org/W3011646207","https://openalex.org/W3022310485","https://openalex.org/W3034726893","https://openalex.org/W3092124468","https://openalex.org/W3114772654","https://openalex.org/W3127026341","https://openalex.org/W3134645133","https://openalex.org/W3135213554","https://openalex.org/W3167374964","https://openalex.org/W4294416241","https://openalex.org/W4307957912","https://openalex.org/W6633811811","https://openalex.org/W6711053983"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2863424594","https://openalex.org/W2372633663","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364","https://openalex.org/W2118356379"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,39,99,171],"address":[3,40],"the":[4,7,23,28,35,41,44,50,56,60,65,71,78,83,87,94,100,107,111,115,132,135,139,143,166,172,179],"shortcomings":[5],"of":[6,17,43,47,52,59,193],"traditional":[8,133,136,140],"bidirectional":[9,117,141,145],"RRT*":[10,118,146],"algorithm,":[11],"such":[12],"as":[13],"its":[14],"high":[15,45],"degree":[16,46],"randomness,":[18],"low":[19],"search":[20],"efficiency,":[21,155],"and":[22,138,156,188],"many":[24],"inflection":[25,158],"points":[26],"in":[27,34,49,182],"planned":[29,113,177],"path,":[30],"we":[31],"institute":[32],"improvements":[33],"following":[36],"directions.":[37],"Firstly,":[38],"problem":[42],"randomness":[48],"process":[51],"random":[53,61,79,88,101],"tree":[54,62,80,89],"expansion,":[55],"expansion":[57],"direction":[58],"growing":[63],"at":[64,93,106],"starting":[66,108],"point":[67,91,96,104],"is":[68,97,120,163,186],"constrained":[69],"by":[70,114,122,178],"improved":[72,116,144],"artificial":[73],"potential":[74],"field":[75],"method;":[76],"thus,":[77],"grows":[81],"towards":[82],"target":[84,95],"point.":[85,109],"Secondly,":[86],"sampling":[90,103],"grown":[92,105],"biased":[98],"number":[102],"Finally,":[110],"path":[112,151,162,176],"algorithm":[119,147,181],"optimized":[121,161],"extracting":[123],"key":[124,173],"points.":[125,159,174],"Simulation":[126],"experiments":[127],"show":[128],"that":[129],"compared":[130],"with":[131],"A*,":[134],"RRT,":[137],"RRT*,":[142],"has":[148],"a":[149,183],"shorter":[150],"length,":[152],"higher":[153],"path-planning":[154],"fewer":[157],"The":[160,175],"segmented":[164],"using":[165],"dynamic":[167],"window":[168],"method":[169],"according":[170],"fusion":[180],"complex":[184],"environment":[185],"smoother":[187],"allows":[189],"for":[190],"excellent":[191],"avoidance":[192],"temporary":[194],"obstacles.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}