{"id":"https://openalex.org/W4411024869","doi":"https://doi.org/10.3390/sym17060875","title":"Research on Navigation and Dynamic Symmetrical Path Planning Methods for Automated Rescue Robots in Coal Mines","display_name":"Research on Navigation and Dynamic Symmetrical Path Planning Methods for Automated Rescue Robots in Coal Mines","publication_year":2025,"publication_date":"2025-06-04","ids":{"openalex":"https://openalex.org/W4411024869","doi":"https://doi.org/10.3390/sym17060875"},"language":"en","primary_location":{"id":"doi:10.3390/sym17060875","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17060875","pdf_url":"https://www.mdpi.com/2073-8994/17/6/875/pdf?version=1749030393","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/17/6/875/pdf?version=1749030393","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092102974","display_name":"Yuriy Kozhubaev","orcid":"https://orcid.org/0009-0006-1822-7117"},"institutions":[{"id":"https://openalex.org/I3018660459","display_name":"Saint Petersburg Mining University","ror":"https://ror.org/01ma17032","country_code":"RU","type":"education","lineage":["https://openalex.org/I3018660459"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Yuriy Kozhubaev","raw_affiliation_strings":["Faculty of Energy, Empress Catherine II Saint Petersburg Mining University, 2, 21st Line, St. Petersburg 199106, Russia"],"raw_orcid":"https://orcid.org/0009-0006-1822-7117","affiliations":[{"raw_affiliation_string":"Faculty of Energy, Empress Catherine II Saint Petersburg Mining University, 2, 21st Line, St. Petersburg 199106, Russia","institution_ids":["https://openalex.org/I3018660459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110279783","display_name":"D. Nov\u00e1k","orcid":"https://orcid.org/0009-0000-2651-899X"},"institutions":[{"id":"https://openalex.org/I3018660459","display_name":"Saint Petersburg Mining University","ror":"https://ror.org/01ma17032","country_code":"RU","type":"education","lineage":["https://openalex.org/I3018660459"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Diana Novak","raw_affiliation_strings":["Institute of General Engineering, Empress Catherine II Saint Petersburg Mining University, 2, 21st Line, St. Petersburg 199106, Russia"],"raw_orcid":"https://orcid.org/0009-0000-2651-899X","affiliations":[{"raw_affiliation_string":"Institute of General Engineering, Empress Catherine II Saint Petersburg Mining University, 2, 21st Line, St. Petersburg 199106, Russia","institution_ids":["https://openalex.org/I3018660459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117541180","display_name":"Roman Ershov","orcid":"https://orcid.org/0009-0006-4525-6933"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roman Ershov","raw_affiliation_strings":["JSC \u201cVorkutaugol\u201d, Vorkuta 169908, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JSC \u201cVorkutaugol\u201d, Vorkuta 169908, Russia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050472245","display_name":"Weiheng Xu","orcid":"https://orcid.org/0000-0001-5596-4366"},"institutions":[{"id":"https://openalex.org/I212220629","display_name":"Peter the Great St. Petersburg Polytechnic University","ror":"https://ror.org/02x91aj62","country_code":"RU","type":"education","lineage":["https://openalex.org/I212220629"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Weiheng Xu","raw_affiliation_strings":["Higher School of Cyberphysical Systems & Control, Peter the Great St. Petersburg Polytechnic University, St. Petersburg 195251, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Higher School of Cyberphysical Systems & Control, Peter the Great St. Petersburg Polytechnic University, St. Petersburg 195251, Russia","institution_ids":["https://openalex.org/I212220629"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103266720","display_name":"Hua Cheng","orcid":"https://orcid.org/0000-0002-9787-1587"},"institutions":[{"id":"https://openalex.org/I212220629","display_name":"Peter the Great St. Petersburg Polytechnic University","ror":"https://ror.org/02x91aj62","country_code":"RU","type":"education","lineage":["https://openalex.org/I212220629"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Haodong Cheng","raw_affiliation_strings":["Higher School of Cyberphysical Systems & Control, Peter the Great St. Petersburg Polytechnic University, St. Petersburg 195251, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Higher School of Cyberphysical Systems & Control, Peter the Great St. Petersburg Polytechnic University, St. Petersburg 195251, Russia","institution_ids":["https://openalex.org/I212220629"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5092102974"],"corresponding_institution_ids":["https://openalex.org/I3018660459"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":8.4989,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97759763,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"17","issue":"6","first_page":"875","last_page":"875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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":0.9980000257492065,"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/T13715","display_name":"Power Line Inspection Robots","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13382","display_name":"Robotics and Automated Systems","score":0.9696999788284302,"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/rescue-robot","display_name":"Rescue robot","score":0.7259160280227661},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6430523991584778},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6405177116394043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5842667818069458},{"id":"https://openalex.org/keywords/coal-mining","display_name":"Coal mining","score":0.5506774187088013},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5482117533683777},{"id":"https://openalex.org/keywords/coal","display_name":"Coal","score":0.44559669494628906},{"id":"https://openalex.org/keywords/mining-engineering","display_name":"Mining engineering","score":0.32138118147850037},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3155079483985901},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29289504885673523},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22453182935714722},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08664044737815857},{"id":"https://openalex.org/keywords/waste-management","display_name":"Waste management","score":0.08260080218315125}],"concepts":[{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.7259160280227661},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6430523991584778},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6405177116394043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5842667818069458},{"id":"https://openalex.org/C108615695","wikidata":"https://www.wikidata.org/wiki/Q12880211","display_name":"Coal mining","level":3,"score":0.5506774187088013},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5482117533683777},{"id":"https://openalex.org/C518851703","wikidata":"https://www.wikidata.org/wiki/Q24489","display_name":"Coal","level":2,"score":0.44559669494628906},{"id":"https://openalex.org/C16674752","wikidata":"https://www.wikidata.org/wiki/Q1370637","display_name":"Mining engineering","level":1,"score":0.32138118147850037},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3155079483985901},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29289504885673523},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22453182935714722},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08664044737815857},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.08260080218315125}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/sym17060875","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17060875","pdf_url":"https://www.mdpi.com/2073-8994/17/6/875/pdf?version=1749030393","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/sym17060875","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17060875","pdf_url":"https://www.mdpi.com/2073-8994/17/6/875/pdf?version=1749030393","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4411024869.pdf","grobid_xml":"https://content.openalex.org/works/W4411024869.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W2922032008","https://openalex.org/W3088197938","https://openalex.org/W3126197776","https://openalex.org/W3161992262","https://openalex.org/W4205874520","https://openalex.org/W4220989768","https://openalex.org/W4231716825","https://openalex.org/W4286484331","https://openalex.org/W4293252172","https://openalex.org/W4308878355","https://openalex.org/W4309225961","https://openalex.org/W4312266223","https://openalex.org/W4313299037","https://openalex.org/W4323339337","https://openalex.org/W4386763633","https://openalex.org/W4386858554","https://openalex.org/W4387454593","https://openalex.org/W4387459540","https://openalex.org/W4391605313","https://openalex.org/W4392407890","https://openalex.org/W4394567380","https://openalex.org/W4399530630","https://openalex.org/W4400079092","https://openalex.org/W4400114380","https://openalex.org/W4403022795","https://openalex.org/W4403023324","https://openalex.org/W4403023786","https://openalex.org/W6840600856","https://openalex.org/W7009940815"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2363506527","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231","https://openalex.org/W2150982344"],"abstract_inverted_index":{"In":[0,91,162,239],"the":[1,7,59,68,79,109,127,134,147,167,183,190,199,206,211,215,227,234,247,266,269,279,284,318],"context":[2],"of":[3,9,111,142,169,185,205,213,226,249,268,274,293,321],"coal":[4,36,325],"mine":[5,37,97],"operations,":[6],"assurance":[8],"work":[10],"safety":[11],"relies":[12],"heavily":[13],"on":[14,95,233,246],"efficient":[15],"autonomous":[16,319],"navigation":[17,320],"for":[18,317],"rescue":[19],"robots,":[20],"yet":[21],"traditional":[22],"path":[23,40,143,157,191,218,229,252,297,300],"planning":[24,41,113,144,192,230,253,298],"algorithms":[25,42],"such":[26],"as":[27,44],"A":[28,63],"and":[29,46,54,78,114,138,150,187,202,254,302],"RRT":[30,177],"exhibit":[31],"significant":[32],"deficiencies":[33,50],"in":[34,51,74,88,108,124,189,198,291,324],"a":[35,288,314],"environment.":[38],"Traditional":[39],"(such":[43],"Dijkstra":[45,60],"PRM)":[47],"have":[48],"certain":[49],"dynamic":[52,256],"Spaces":[53],"narrow":[55],"environments.":[56],"For":[57],"example,":[58],"algorithm":[61,70,81,123,178,231,286],"has":[62,71,99],"relatively":[64],"high":[65],"computational":[66],"complexity,":[67],"PRM":[69],"poor":[72],"adaptability":[73],"real-time":[75,255],"obstacle":[76,139,257,303],"avoidance,":[77],"A*":[80,122],"is":[82,174,179,219],"prone":[83],"to":[84,132,159,164,181,195,210,221,265],"generating":[85],"redundant":[86,152],"nodes":[87],"complex":[89],"terrains.":[90],"recent":[92],"years,":[93],"research":[94],"underground":[96],"scenarios":[98],"also":[100,261],"pointed":[101],"out":[102],"that":[103,166,283],"there":[104],"are":[105],"many":[106],"difficulties":[107],"integration":[110],"global":[112,216],"local":[115],"planning.":[116],"This":[117,154,311],"paper":[118],"proposes":[119],"an":[120,176,196],"enhanced":[121],"conjunction":[125],"with":[126,308],"Dynamic":[128],"Window":[129],"Approach":[130],"(DWA)":[131],"enhance":[133],"efficiency,":[135,305],"search":[136],"accuracy,":[137],"avoidance":[140,258,304],"capability":[141],"by":[145,224],"optimizing":[146],"target":[148,171],"function":[149],"eliminating":[151],"nodes.":[153],"approach":[155],"enables":[156],"smoothing":[158],"be":[160,222],"performed.":[161],"order":[163],"ensure":[165],"requirement":[168],"multiple":[170],"point":[172],"detection":[173],"realized,":[175],"proposed":[180,220,285],"reduce":[182],"element":[184],"randomness":[186],"uncertainty":[188],"process,":[193],"leading":[194],"increase":[197],"convergence":[200],"rate":[201],"overall":[203],"performance":[204],"algorithm.":[207],"The":[208,272],"solution":[209],"problem":[212],"determining":[214],"optimal":[217,228],"simplified":[223],"means":[225],"based":[232],"gradient":[235],"coordinate":[236],"rotation":[237],"method.":[238],"this":[240],"study,":[241],"we":[242],"not":[243],"only":[244],"focus":[245],"efficiency":[248],"mobile":[250,322],"robot":[251],"capabilities":[259],"but":[260],"pay":[262],"special":[263],"attention":[264],"symmetry":[267],"final":[270],"path.":[271],"findings":[273],"simulation":[275],"experiments":[276],"conducted":[277],"within":[278],"MATLAB":[280],"environment":[281],"demonstrate":[282],"exhibits":[287],"substantial":[289],"enhancement":[290],"terms":[292],"three":[294],"key":[295],"metrics:":[296],"time,":[299],"length,":[301],"when":[306],"compared":[307],"conventional":[309],"methodologies.":[310],"study":[312],"provides":[313],"theoretical":[315],"foundation":[316],"robots":[323],"mines.":[326]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}
