{"id":"https://openalex.org/W4392197536","doi":"https://doi.org/10.3390/s24051523","title":"Enhancing Stability and Performance in Mobile Robot Path Planning with PMR-Dueling DQN Algorithm","display_name":"Enhancing Stability and Performance in Mobile Robot Path Planning with PMR-Dueling DQN Algorithm","publication_year":2024,"publication_date":"2024-02-27","ids":{"openalex":"https://openalex.org/W4392197536","doi":"https://doi.org/10.3390/s24051523","pmid":"https://pubmed.ncbi.nlm.nih.gov/38475059"},"language":"en","primary_location":{"id":"doi:10.3390/s24051523","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051523","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1523/pdf?version=1709002857","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/1424-8220/24/5/1523/pdf?version=1709002857","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033408139","display_name":"Demelash Abiye Deguale","orcid":"https://orcid.org/0009-0003-7127-5458"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Demelash Abiye Deguale","raw_affiliation_strings":["School of Automation, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021274599","display_name":"Lingli Yu","orcid":"https://orcid.org/0000-0002-3690-8569"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingli Yu","raw_affiliation_strings":["School of Automation, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094012766","display_name":"Melikamu Liyih Sinishaw","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Melikamu Liyih Sinishaw","raw_affiliation_strings":["School of Computer Science and Engineering, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101739448","display_name":"Keyi Li","orcid":"https://orcid.org/0000-0002-1778-4206"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keyi Li","raw_affiliation_strings":["School of Automation, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033408139"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":5.7313,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.96980223,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"24","issue":"5","first_page":"1523","last_page":"1523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8916565775871277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8065670728683472},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6828315258026123},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6483021974563599},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5585534572601318},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.551828920841217},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5412049293518066},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5167886018753052},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5050528645515442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4964764714241028},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4717339277267456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4394104480743408},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4275967478752136},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.26388055086135864},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.19092723727226257},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1264699101448059},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1015758216381073}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8916565775871277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8065670728683472},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6828315258026123},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6483021974563599},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5585534572601318},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.551828920841217},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5412049293518066},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5167886018753052},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5050528645515442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4964764714241028},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4717339277267456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4394104480743408},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4275967478752136},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26388055086135864},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.19092723727226257},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1264699101448059},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1015758216381073},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24051523","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051523","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1523/pdf?version=1709002857","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:38475059","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38475059","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:10934465","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10934465","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10934465/pdf/sensors-24-01523.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"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:07397cd2ddf94a7d8a5c1b25dbfcc820","is_oa":true,"landing_page_url":"https://doaj.org/article/07397cd2ddf94a7d8a5c1b25dbfcc820","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 5, p 1523 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24051523","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051523","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1523/pdf?version=1709002857","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":[{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4967333638","display_name":null,"funder_award_id":"62373376","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5480234831","display_name":null,"funder_award_id":"61976088","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6165143477","display_name":null,"funder_award_id":"2022JJ30758","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"},{"id":"https://openalex.org/G8228049107","display_name":null,"funder_award_id":"61976224","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392197536.pdf","grobid_xml":"https://content.openalex.org/works/W4392197536.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1788719447","https://openalex.org/W1977655452","https://openalex.org/W2041176007","https://openalex.org/W2046223388","https://openalex.org/W2050233777","https://openalex.org/W2067508429","https://openalex.org/W2107535513","https://openalex.org/W2145339207","https://openalex.org/W2155212490","https://openalex.org/W2173564293","https://openalex.org/W2392808011","https://openalex.org/W2413992829","https://openalex.org/W2541845126","https://openalex.org/W2746553466","https://openalex.org/W2793998795","https://openalex.org/W2808470116","https://openalex.org/W2883180136","https://openalex.org/W2892310933","https://openalex.org/W2895647709","https://openalex.org/W2909906617","https://openalex.org/W2942307437","https://openalex.org/W2965996200","https://openalex.org/W2972350003","https://openalex.org/W3022568503","https://openalex.org/W3028803129","https://openalex.org/W3034757316","https://openalex.org/W3186502870","https://openalex.org/W3194805530","https://openalex.org/W4226125647","https://openalex.org/W4281260284","https://openalex.org/W4312571046","https://openalex.org/W4380989850","https://openalex.org/W4388634858","https://openalex.org/W4403853345","https://openalex.org/W6986874642"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2906946336","https://openalex.org/W2991662304","https://openalex.org/W2742483371","https://openalex.org/W3119736302","https://openalex.org/W2794689129"],"abstract_inverted_index":{"Path":[0],"planning":[1,171],"for":[2,22,168],"mobile":[3],"robots":[4],"in":[5,70,172],"complex":[6,173],"circumstances":[7],"is":[8,63],"still":[9],"a":[10,36,106],"challenging":[11],"issue.":[12],"This":[13],"work":[14],"introduces":[15],"an":[16],"improved":[17],"deep":[18,149],"reinforcement":[19,150],"learning":[20,78,151],"strategy":[21],"robot":[23,169],"navigation":[24],"that":[25,117],"combines":[26],"dueling":[27,107],"architecture,":[28,156],"Prioritized":[29,57,98],"Experience":[30,58],"Replay,":[31],"and":[32,39,46,56,68,77,96,111,127,136,157],"shaped":[33,86],"Rewards.":[34],"In":[35,132],"grid":[37,134],"world":[38,135],"two":[40],"Gazebo":[41,137],"simulation":[42],"environments":[43,138],"with":[44,53,152],"static":[45],"dynamic":[47],"obstacles,":[48],"the":[49,82,85,118,139,161],"Dueling":[50],"Deep":[51],"Q-Network":[52],"Modified":[54],"Rewards":[55],"Replay":[59],"(PMR-Dueling":[60],"DQN)":[61],"algorithm":[62],"compared":[64],"against":[65],"Q-learning,":[66],"DQN,":[67],"DDQN":[69],"terms":[71],"of":[72,148],"path":[73,170],"optimality,":[74],"collision":[75],"avoidance,":[76,95],"speed.":[79],"To":[80],"encourage":[81],"best":[83],"routes,":[84],"Reward":[87],"function":[88],"takes":[89],"into":[90],"account":[91],"target":[92],"direction,":[93],"obstacle":[94],"distance.":[97],"replay":[99,159],"concentrates":[100],"training":[101],"on":[102],"important":[103],"events":[104],"while":[105],"architecture":[108],"separates":[109],"value":[110],"advantage":[112],"learning.":[113],"The":[114,146],"results":[115],"show":[116],"PMR-Dueling":[119,140,162],"DQN":[120,141,163],"has":[121],"greatly":[122],"increased":[123],"convergence":[124],"speed,":[125],"stability,":[126],"overall":[128],"performance":[129],"across":[130],"conditions.":[131],"both":[133],"achieved":[142],"higher":[143],"cumulative":[144],"rewards.":[145],"combination":[147],"reward":[153],"design,":[154],"network":[155],"experience":[158],"enables":[160],"to":[164],"surpass":[165],"traditional":[166],"approaches":[167],"environments.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-30T08:08:38.191290","created_date":"2025-10-10T00:00:00"}