{"id":"https://openalex.org/W4378716460","doi":"https://doi.org/10.3390/s23115172","title":"A Path Planning Method with a Bidirectional Potential Field Probabilistic Step Size RRT for a Dual Manipulator","display_name":"A Path Planning Method with a Bidirectional Potential Field Probabilistic Step Size RRT for a Dual Manipulator","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4378716460","doi":"https://doi.org/10.3390/s23115172","pmid":"https://pubmed.ncbi.nlm.nih.gov/37299899"},"language":"en","primary_location":{"id":"doi:10.3390/s23115172","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23115172","pdf_url":"https://www.mdpi.com/1424-8220/23/11/5172/pdf?version=1685359867","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/1424-8220/23/11/5172/pdf?version=1685359867","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079200870","display_name":"Youyu Liu","orcid":"https://orcid.org/0000-0002-9836-0869"},"institutions":[{"id":"https://openalex.org/I4210147760","display_name":"Wuhu Institute of Technology","ror":"https://ror.org/055hnk386","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147760"]},{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youyu Liu","raw_affiliation_strings":["Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China","Research Office, Wuhu Institute of Technology, Wuhu 241000, China"],"raw_orcid":"https://orcid.org/0000-0002-9836-0869","affiliations":[{"raw_affiliation_string":"Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]},{"raw_affiliation_string":"Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]},{"raw_affiliation_string":"Research Office, Wuhu Institute of Technology, Wuhu 241000, China","institution_ids":["https://openalex.org/I4210147760"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034670018","display_name":"Wanbao Tao","orcid":null},"institutions":[{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanbao Tao","raw_affiliation_strings":["Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]},{"raw_affiliation_string":"Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065249802","display_name":"Shunfang Li","orcid":"https://orcid.org/0000-0003-4661-6188"},"institutions":[{"id":"https://openalex.org/I4210147760","display_name":"Wuhu Institute of Technology","ror":"https://ror.org/055hnk386","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210147760"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shunfang Li","raw_affiliation_strings":["Research Office, Wuhu Institute of Technology, Wuhu 241000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Office, Wuhu Institute of Technology, Wuhu 241000, China","institution_ids":["https://openalex.org/I4210147760"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106406705","display_name":"Yi Li","orcid":"https://orcid.org/0009-0009-3097-8273"},"institutions":[{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Li","raw_affiliation_strings":["Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]},{"raw_affiliation_string":"Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049119787","display_name":"Qijie Wang","orcid":"https://orcid.org/0000-0002-9910-1455"},"institutions":[{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijie Wang","raw_affiliation_strings":["Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]},{"raw_affiliation_string":"Mechanical Engineering Department, Anhui Polytechnic University, Wuhu 241000, China","institution_ids":["https://openalex.org/I70908550"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065249802"],"corresponding_institution_ids":["https://openalex.org/I4210147760"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.0682,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.78926754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"23","issue":"11","first_page":"5172","last_page":"5172"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.991599977016449,"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/path","display_name":"Path (computing)","score":0.7166584134101868},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6867361664772034},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6728810667991638},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6286975145339966},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.5970141887664795},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5646307468414307},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.508124828338623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4742285907268524},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.42891770601272583},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42530685663223267},{"id":"https://openalex.org/keywords/search-tree","display_name":"Search tree","score":0.4244646430015564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3507251739501953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18590635061264038},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16137132048606873}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7166584134101868},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6867361664772034},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6728810667991638},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6286975145339966},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.5970141887664795},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5646307468414307},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.508124828338623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4742285907268524},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.42891770601272583},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42530685663223267},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.4244646430015564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3507251739501953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18590635061264038},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16137132048606873},{"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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23115172","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23115172","pdf_url":"https://www.mdpi.com/1424-8220/23/11/5172/pdf?version=1685359867","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:37299899","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37299899","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:10255475","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10255475","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10255475/pdf/sensors-23-05172.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:1f7a3ea9aeb34a6ba747a3207a75af8e","is_oa":true,"landing_page_url":"https://doaj.org/article/1f7a3ea9aeb34a6ba747a3207a75af8e","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 11, p 5172 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23115172","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23115172","pdf_url":"https://www.mdpi.com/1424-8220/23/11/5172/pdf?version=1685359867","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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4378716460.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1608481154","https://openalex.org/W2021118704","https://openalex.org/W2063963149","https://openalex.org/W2116966230","https://openalex.org/W2118356379","https://openalex.org/W2129711966","https://openalex.org/W2141664020","https://openalex.org/W2169913476","https://openalex.org/W2294351956","https://openalex.org/W2734981231","https://openalex.org/W2793922568","https://openalex.org/W2887145159","https://openalex.org/W2896112628","https://openalex.org/W2944811079","https://openalex.org/W2970606861","https://openalex.org/W2980530691","https://openalex.org/W2997571480","https://openalex.org/W3106071214","https://openalex.org/W3114772654","https://openalex.org/W3162361087","https://openalex.org/W3180853650","https://openalex.org/W3183611747","https://openalex.org/W3197704885","https://openalex.org/W3208107236","https://openalex.org/W4211164312","https://openalex.org/W4224287997","https://openalex.org/W4229456333","https://openalex.org/W4283749334","https://openalex.org/W4294142922","https://openalex.org/W4308310328","https://openalex.org/W4311666832","https://openalex.org/W4313361010","https://openalex.org/W4362610213","https://openalex.org/W6772371929","https://openalex.org/W6798089228","https://openalex.org/W6846731461"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364","https://openalex.org/W1660309994"],"abstract_inverted_index":{"The":[0,86,187],"search":[1,45,73,95,138,169],"efficiency":[2],"of":[3,23,66,75,105],"a":[4,15,33,40,48,67,72,76,80],"rapidly":[5,55],"exploring":[6,56],"random":[7,57,84],"tree":[8,58],"(RRT)":[9],"can":[10,190],"be":[11,191],"improved":[12],"by":[13,70,140,150,171,181],"introducing":[14,71],"high-probability":[16,28],"goal":[17,29,100,121,129],"bias":[18,30,101,122,130],"strategy.":[19],"In":[20],"the":[21,27,63,94,98,103,113,133,137,147,158,164,168,178,199],"case":[22],"multiple":[24],"complex":[25],"obstacles,":[26],"strategy":[31,74],"with":[32,79,97,120],"fixed":[34],"step":[35,53,77,125],"size":[36,54,78,126],"will":[37],"fall":[38],"into":[39],"local":[41],"optimum,":[42],"which":[43],"reduces":[44,136,167],"efficiency.":[46],"Herein,":[47],"bidirectional":[49,99,131],"potential":[50,88],"field":[51,89],"probabilistic":[52],"(BPFPS-RRT)":[59],"was":[60,91],"proposed":[61,134,165,188],"for":[62,198],"path":[64,107,148,179,196],"planning":[65,197],"dual":[68,200],"manipulator":[69,115,160],"target":[81],"angle":[82],"and":[83,102,128,143,145,153,174,176,184],"value.":[85],"artificial":[87],"method":[90],"introduced,":[92],"combining":[93],"features":[96],"concept":[104],"greedy":[106],"optimization.":[108],"According":[109],"to":[110,193],"simulations,":[111],"taking":[112,157],"main":[114],"as":[116,161],"an":[117],"example,":[118,163],"compared":[119],"RRT,":[123,127,132],"variable":[124],"algorithm":[135,166,189],"time":[139,170],"23.53%,":[141],"15.45%,":[142],"43.78%":[144],"decreases":[146,177],"length":[149,180],"19.35%,":[151],"18.83%,":[152],"21.38%,":[154],"respectively.":[155,186],"Moreover,":[156],"slave":[159],"another":[162],"6.71%,":[172],"1.49%,":[173],"46.88%":[175],"19.88%,":[182],"19.39%,":[183],"20.83%,":[185],"adopted":[192],"effectively":[194],"achieve":[195],"manipulator.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}