{"id":"https://openalex.org/W4396920684","doi":"https://doi.org/10.3390/s24103149","title":"Intelligent Vehicle Path Planning Based on Optimized A* Algorithm","display_name":"Intelligent Vehicle Path Planning Based on Optimized A* Algorithm","publication_year":2024,"publication_date":"2024-05-15","ids":{"openalex":"https://openalex.org/W4396920684","doi":"https://doi.org/10.3390/s24103149","pmid":"https://pubmed.ncbi.nlm.nih.gov/38794003"},"language":"en","primary_location":{"id":"doi:10.3390/s24103149","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24103149","pdf_url":"https://www.mdpi.com/1424-8220/24/10/3149/pdf?version=1715781174","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/1424-8220/24/10/3149/pdf?version=1715781174","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100748494","display_name":"Liang Chu","orcid":"https://orcid.org/0000-0002-1746-5678"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Chu","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102918013","display_name":"Yilin Wang","orcid":"https://orcid.org/0000-0002-3383-0137"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yilin Wang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100669328","display_name":"Shibo Li","orcid":"https://orcid.org/0000-0001-8398-4102"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shibo Li","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043571041","display_name":"Zhiqi Guo","orcid":"https://orcid.org/0000-0002-7625-7828"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqi Guo","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101915920","display_name":"Weiming Du","orcid":"https://orcid.org/0000-0003-3927-946X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiming Du","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100776462","display_name":"Jinwei Li","orcid":"https://orcid.org/0000-0002-0333-5573"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinwei Li","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008202260","display_name":"Zewei Jiang","orcid":"https://orcid.org/0000-0001-6077-5244"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zewei Jiang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, No. 5988, Renmin Street, Nanguan District, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5008202260"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":5.6025,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.96937012,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"24","issue":"10","first_page":"3149","last_page":"3149"},"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":0.9854000210762024,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9781000018119812,"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/motion-planning","display_name":"Motion planning","score":0.7289687991142273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6739898920059204},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6044992208480835},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5626471042633057},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5591501593589783},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5580612421035767},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5309808850288391},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5271700620651245},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4619290232658386},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.4286138415336609},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.41827893257141113},{"id":"https://openalex.org/keywords/raster-graphics","display_name":"Raster graphics","score":0.4105764925479889},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2097235918045044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18307256698608398},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1580948829650879},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1334334909915924}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7289687991142273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6739898920059204},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6044992208480835},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5626471042633057},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5591501593589783},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5580612421035767},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5309808850288391},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5271700620651245},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4619290232658386},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.4286138415336609},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.41827893257141113},{"id":"https://openalex.org/C181844469","wikidata":"https://www.wikidata.org/wiki/Q182270","display_name":"Raster graphics","level":2,"score":0.4105764925479889},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2097235918045044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18307256698608398},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1580948829650879},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1334334909915924},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24103149","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24103149","pdf_url":"https://www.mdpi.com/1424-8220/24/10/3149/pdf?version=1715781174","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:38794003","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38794003","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:11125652","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11125652","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11125652/pdf/sensors-24-03149.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:66b1e90ade7e4233a6df51ce2d122965","is_oa":true,"landing_page_url":"https://doaj.org/article/66b1e90ade7e4233a6df51ce2d122965","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 24, Iss 10, p 3149 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24103149","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24103149","pdf_url":"https://www.mdpi.com/1424-8220/24/10/3149/pdf?version=1715781174","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":[{"id":"https://metadata.un.org/sdg/11","score":0.6000000238418579,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4396920684.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1777783943","https://openalex.org/W1971086298","https://openalex.org/W1971355878","https://openalex.org/W2007401074","https://openalex.org/W2012191252","https://openalex.org/W2055201760","https://openalex.org/W2093462371","https://openalex.org/W2115257338","https://openalex.org/W2141664020","https://openalex.org/W2360932298","https://openalex.org/W2391326454","https://openalex.org/W2735145284","https://openalex.org/W2771728020","https://openalex.org/W2998466628","https://openalex.org/W3118560987","https://openalex.org/W3194147055","https://openalex.org/W3200051743","https://openalex.org/W4200090642","https://openalex.org/W4225136271","https://openalex.org/W4281870471","https://openalex.org/W4306152325","https://openalex.org/W4311457624","https://openalex.org/W4311526752","https://openalex.org/W4318994462","https://openalex.org/W4319068846","https://openalex.org/W4320039820","https://openalex.org/W4320058924","https://openalex.org/W4321770415","https://openalex.org/W4385732716","https://openalex.org/W4388642362","https://openalex.org/W4388924411","https://openalex.org/W4391102937","https://openalex.org/W4391164108","https://openalex.org/W4391407136","https://openalex.org/W4391661523","https://openalex.org/W4392308954","https://openalex.org/W6653431858","https://openalex.org/W6673695860","https://openalex.org/W6680847343","https://openalex.org/W6799911492","https://openalex.org/W7010407680"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W2394276631","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W3139139461","https://openalex.org/W2056737145","https://openalex.org/W4297094037","https://openalex.org/W1660309994"],"abstract_inverted_index":{"With":[0],"the":[1,5,40,45,59,62,77,83,88,92,103,129,140,147,156,160,164,167,170,175,181,186,192,199,207],"rapid":[2],"development":[3],"of":[4,44,61,87,132,142,159,185,194],"intelligent":[6],"driving":[7],"technology,":[8],"achieving":[9],"accurate":[10],"path":[11,21,90,161,209],"planning":[12,22,162],"for":[13],"unmanned":[14],"vehicles":[15],"has":[16],"become":[17],"increasingly":[18],"crucial.":[19],"However,":[20],"algorithms":[23],"face":[24],"challenges":[25],"when":[26],"dealing":[27],"with":[28],"complex":[29],"and":[30,42,70,85,135,137,163,169,183,205],"ever-changing":[31],"road":[32],"conditions.":[33],"In":[34],"this":[35],"paper,":[36],"aiming":[37],"at":[38],"improving":[39],"accuracy":[41],"robustness":[43],"generated":[46],"path,":[47],"a":[48,117,212],"global":[49],"programming":[50],"algorithm":[51,178],"based":[52,122,150],"on":[53,123,151],"optimization":[54,126],"is":[55,99],"proposed,":[56],"while":[57,112],"maintaining":[58],"efficiency":[60],"traditional":[63],"A*":[64,177],"algorithm.":[65],"Firstly,":[66],"turning":[67,201],"penalty":[68],"function":[69,80],"obstacle":[71],"raster":[72],"coefficient":[73],"are":[74],"integrated":[75],"into":[76],"search":[78,89,97],"cost":[79],"to":[81,91,101,211],"increase":[82],"adaptability":[84],"directionality":[86],"map.":[93],"Secondly,":[94],"an":[95],"efficient":[96],"strategy":[98,121,172],"proposed":[100,171],"solve":[102],"problem":[104],"that":[105,174],"trajectories":[106],"will":[107],"pass":[108],"through":[109],"sparse":[110],"obstacles":[111],"reducing":[113],"spatial":[114],"complexity.":[115],"Thirdly,":[116],"redundant":[118],"node":[119],"elimination":[120],"discrete":[124],"smoothing":[125],"effectively":[127],"reduces":[128,139,191],"total":[130,200],"length":[131,210],"control":[133],"points":[134],"paths,":[136],"greatly":[138],"difficulty":[141],"subsequent":[143],"trajectory":[144],"optimization.":[145],"Finally,":[146],"simulation":[148],"results,":[149],"real":[152],"map":[153],"rasterization,":[154],"highlight":[155],"advanced":[157],"performance":[158],"comparison":[165],"among":[166],"baselines":[168],"showcases":[173],"optimized":[176],"significantly":[179],"enhances":[180],"security":[182],"rationality":[184],"planned":[187],"path.":[188],"Notably,":[189],"it":[190],"number":[193],"traversed":[195],"nodes":[196],"by":[197,203],"84%,":[198],"angle":[202],"39%,":[204],"shortens":[206],"overall":[208],"certain":[213],"extent.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-20T22:02:38.213706","created_date":"2025-10-10T00:00:00"}
