{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T11:22:22Z","timestamp":1770290542235,"version":"3.49.0"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2019,5,27]],"date-time":"2019-05-27T00:00:00Z","timestamp":1558915200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,5,27]],"date-time":"2019-05-27T00:00:00Z","timestamp":1558915200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100003621","name":"Ministry of Science, ICT and Future Planning","doi-asserted-by":"publisher","award":["2012K1A4A3026740"],"award-info":[{"award-number":["2012K1A4A3026740"]}],"id":[{"id":"10.13039\/501100003621","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2019,7]]},"DOI":"10.1007\/s11370-019-00278-7","type":"journal-article","created":{"date-parts":[[2019,5,27]],"date-time":"2019-05-27T05:47:41Z","timestamp":1558936061000},"page":"243-253","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":42,"title":["Collision-free path planning of cable-driven parallel robots in cluttered environments"],"prefix":"10.1007","volume":"12","author":[{"given":"Jeong-Hyeon","family":"Bak","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sung Wook","family":"Hwang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jonghyun","family":"Yoon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jong Hyeon","family":"Park","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jong-Oh","family":"Park","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,5,27]]},"reference":[{"issue":"3","key":"278_CR1","first-page":"57","volume":"9","author":"S Sohrabi","year":"2016","unstructured":"Sohrabi S, Daniali HM, Fathi A (2016) Trajectory path planning of cable driven parallel manipulators, considering masses and flexibility of the cables. Int J Adv Des Manuf Technol 9(3):57\u201364","journal-title":"Int J Adv Des Manuf Technol"},{"key":"278_CR2","doi-asserted-by":"crossref","unstructured":"Pott A, M\u00fctherich H, Kraus W, Schmidt V, Miermeister P, Verl A (2013) Ipanema: a family of cable-driven parallel robots for industrial applications. In: Cable-Driven Parallel Robots. Springer, pp 119\u2013134","DOI":"10.1007\/978-3-642-31988-4_8"},{"key":"278_CR3","doi-asserted-by":"crossref","unstructured":"Gagliardini L, Caro S, Gouttefarde M, Wenger P, Girin A (2015) A reconfigurable cable-driven parallel robot for sandblasting and painting of large structures. In: Cable-Driven Parallel Robots. Springer, pp 275\u2013291","DOI":"10.1007\/978-3-319-09489-2_20"},{"key":"278_CR4","doi-asserted-by":"crossref","unstructured":"Merlet JP (2017) Preliminaries of a new approach for the direct kinematics of suspended cable-driven parallel robot with deformable cables. In: New trends in mechanism and machine science. Springer, pp 355\u2013362","DOI":"10.1007\/978-3-319-44156-6_36"},{"issue":"6","key":"278_CR5","doi-asserted-by":"publisher","first-page":"723","DOI":"10.1177\/0278364915595277","volume":"35","author":"A Berti","year":"2016","unstructured":"Berti A, Merlet JP, Carricato M (2016) Solving the direct geometrico-static problem of underconstrained cable-driven parallel robots by interval analysis. Int J Robot Res 35(6):723\u2013739","journal-title":"Int J Robot Res"},{"key":"278_CR6","first-page":"1","volume":"12","author":"RK Mandava","year":"2018","unstructured":"Mandava RK, Katla M, Vundavilli PR (2018) Application of hybrid fast marching method to determine the real-time path for the biped robot. Intell Serv Robot 12:1\u201312","journal-title":"Intell Serv Robot"},{"key":"278_CR7","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1016\/j.asoc.2019.01.036","volume":"77","author":"U Orozco-Rosas","year":"2019","unstructured":"Orozco-Rosas U, Montiel O, Sep\u00falveda R (2019) Mobile robot path planning using membrane evolutionary artificial potential field. Appl Soft Comput 77:236\u2013251","journal-title":"Appl Soft Comput"},{"key":"278_CR8","doi-asserted-by":"publisher","first-page":"2138","DOI":"10.1109\/ACCESS.2018.2886245","volume":"7","author":"S Thabit","year":"2019","unstructured":"Thabit S, Mohades A (2019) Multi-robot path planning based on multi-objective particle swarm optimization. IEEE Access 7:2138\u20132147","journal-title":"IEEE Access"},{"key":"278_CR9","doi-asserted-by":"crossref","unstructured":"Taoudi A, Luo C (2019) Obstacle avoidance for a quadrotor using A* path planning and LQR-based trajectory tracking. In: AIAA Scitech 2019 Forum, p 1566","DOI":"10.2514\/6.2019-1566"},{"key":"278_CR10","unstructured":"Nguyen DQ, Gouttefarde M (2015) On the improvement of cable collision detection algorithms. In: Cable-driven parallel robots. Springer, pp 29\u201340"},{"key":"278_CR11","doi-asserted-by":"crossref","unstructured":"Blanchet L, Merlet JP (2014) Interference detection for cable-driven parallel robots (CDPRs). In: 2014 IEEE\/ASME international conference on advanced intelligent mechatronics (AIM). IEEE, pp 1413\u20131418","DOI":"10.1109\/AIM.2014.6878280"},{"key":"278_CR12","doi-asserted-by":"crossref","unstructured":"Wang B, Zi B, Qian S, Zhang D (2016) Collision free force closure workspace determination of reconfigurable planar cable driven parallel robot. In: Asia-Pacific conference on intelligent robot systems (ACIRS). IEEE, pp 26\u201330","DOI":"10.1109\/ACIRS.2016.7556182"},{"issue":"11","key":"278_CR13","doi-asserted-by":"publisher","first-page":"1083","DOI":"10.1016\/j.robot.2009.07.006","volume":"57","author":"S Lahouar","year":"2009","unstructured":"Lahouar S, Ottaviano E, Zeghoul S, Romdhane L, Ceccarelli M (2009) Collision free path-planning for cable-driven parallel robots. Robot Auton Syst 57(11):1083\u20131093","journal-title":"Robot Auton Syst"},{"key":"278_CR14","unstructured":"LaValle SM (1998) Rapidly-exploring random trees: a new tool for path planning. Computer Science Dept Oct"},{"key":"278_CR15","unstructured":"LaValle SM, Kuffner JJ Jr (2000) Rapidly-exploring random trees: progress and prospects. In: Algorithmic and computational robotics: new directions. Citeseer"},{"key":"278_CR16","doi-asserted-by":"crossref","unstructured":"Dong Y, Fu C, Kayacan E (2016) RRT-based 3D path planning for formation landing of quadrotor UAVs. In: 14th international conference on control, automation, robotics and vision (ICARCV). IEEE, pp 1\u20136","DOI":"10.1109\/ICARCV.2016.7838567"},{"key":"278_CR17","doi-asserted-by":"crossref","unstructured":"Peng XZ, Lin HY, Dai JM (2016) Path planning and obstacle avoidance for vision guided quadrotor UAV navigation. In: 12th IEEE international conference on control and automation (ICCA). IEEE, pp 984\u2013989","DOI":"10.1109\/ICCA.2016.7505408"},{"key":"278_CR18","doi-asserted-by":"crossref","unstructured":"Lu L, Zong C, Lei X, Chen B, Zhao P (2017) Fixed-wing UAV path planning in a dynamic environment via dynamic RRT algorithm. In: Mechanism and machine science: Proceedings of ASIAN MMS 2016 & CCMMS 2016. Springer, pp 271\u2013282","DOI":"10.1007\/978-981-10-2875-5_23"},{"key":"278_CR19","doi-asserted-by":"crossref","unstructured":"Palmieri L, Arras KO (2014) A novel RRT extend function for efficient and smooth mobile robot motion planning. In: IEEE\/RSJ international conference on intelligent robots and systems (IROS 2014). IEEE, pp 205\u2013211","DOI":"10.1109\/IROS.2014.6942562"},{"key":"278_CR20","doi-asserted-by":"crossref","unstructured":"Kamarry S, Molina L, Carvalho E\u00c1N, Freire EO (2015) Compact RRT: a new approach for guided sampling applied to environment representation and path planning in mobile robotics. In: 12th Latin American Robotics Symposium (LARS) and 3rd Brazilian Symposium on Robotics (LARS-SBR). IEEE, pp 259\u2013264","DOI":"10.1109\/LARS-SBR.2015.40"},{"issue":"5","key":"278_CR21","doi-asserted-by":"publisher","first-page":"591","DOI":"10.1007\/s12541-016-0071-3","volume":"17","author":"C Moon","year":"2016","unstructured":"Moon C, Chung W (2016) Practical probabilistic trajectory planning scheme based on the rapidly-exploring random trees for two-wheeled mobile robots. Int J Precis Eng Manuf 17(5):591\u2013596","journal-title":"Int J Precis Eng Manuf"},{"key":"278_CR22","doi-asserted-by":"crossref","unstructured":"Lan X, Di Cairano S (2015) Continuous curvature path planning for semi-autonomous vehicle maneuvers using RRT. In: European Control Conference (ECC). IEEE, pp 2360\u20132365","DOI":"10.1109\/ECC.2015.7330891"},{"key":"278_CR23","doi-asserted-by":"crossref","unstructured":"Kuwata Y, Fiore GA, Teo J, Frazzoli E, How JP (2008) Motion planning for urban driving using RRT. In: IEEE\/RSJ international conference on intelligent robots and systems. IEEE, pp 1681\u20131686","DOI":"10.1109\/IROS.2008.4651075"},{"issue":"1","key":"278_CR24","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1007\/s11370-017-0236-7","volume":"11","author":"I Noreen","year":"2018","unstructured":"Noreen I, Khan A, Ryu H, Doh NL, Habib Z (2018) Optimal path planning in cluttered environment using RRT*-AB. Intell Serv Robot 11(1):41\u201352","journal-title":"Intell Serv Robot"},{"key":"278_CR25","doi-asserted-by":"crossref","unstructured":"Gammell JD, Srinivasa SS, Barfoot TD (2014) Informed RRT*: optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic. In: 2014 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2014). IEEE, pp 2997\u20133004","DOI":"10.1109\/IROS.2014.6942976"},{"key":"278_CR26","doi-asserted-by":"publisher","DOI":"10.1201\/b14581","volume-title":"Real-time collision detection","author":"C Ericson","year":"2004","unstructured":"Ericson C (2004) Real-time collision detection. CRC Press, Boca Raton"},{"issue":"4","key":"278_CR27","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1080\/10867651.1997.10487480","volume":"2","author":"G Bergen","year":"1997","unstructured":"Bergen G (1997) Efficient collision detection of complex deformable models using AABB trees. J Graph Tools 2(4):1\u201313","journal-title":"J Graph Tools"},{"issue":"1","key":"278_CR28","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1109\/2945.675649","volume":"4","author":"JT Klosowski","year":"1998","unstructured":"Klosowski JT, Held M, Mitchell JS, Sowizral H, Zikan K (1998) Efficient collision detection using bounding volume hierarchies of k-dops. IEEE Trans Vis Comput Graph 4(1):21\u201336","journal-title":"IEEE Trans Vis Comput Graph"},{"key":"278_CR29","doi-asserted-by":"crossref","unstructured":"Gottschalk S, Lin MC, Manocha D (1996) Obbtree: a hierarchical structure for rapid interference detection. In: Proceedings of the 23rd annual conference on Computer graphics and interactive techniques. ACM, pp 171\u2013180","DOI":"10.1145\/237170.237244"},{"issue":"2","key":"278_CR30","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1109\/56.2083","volume":"4","author":"EG Gilbert","year":"1988","unstructured":"Gilbert EG, Johnson DW, Keerthi SS (1988) A fast procedure for computing the distance between complex objects in three-dimensional space. IEEE J Robot Autom 4(2):193\u2013203","journal-title":"IEEE J Robot Autom"},{"issue":"1\u20134","key":"278_CR31","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1023\/B:NUMA.0000049460.50984.b8","volume":"37","author":"E Dyllong","year":"2004","unstructured":"Dyllong E, Luther W (2004) The GJK distance algorithm: an interval version for incremental motions. Numer Algorithms 37(1\u20134):127\u2013136","journal-title":"Numer Algorithms"},{"key":"278_CR32","unstructured":"XueMei J (2015) Rapidly-exploring random tree (RRT)-based path planning for cable-driven parallel robot considering interference between cables and platform. Ph.D. thesis, Chonnam University, Gwangju, Korea"},{"issue":"2","key":"278_CR33","doi-asserted-by":"publisher","first-page":"7","DOI":"10.1080\/10867651.1999.10487502","volume":"4","author":"GV Bergen","year":"1999","unstructured":"Bergen GV (1999) A fast and robust GJK implementation for collision detection of convex objects. J Graph Tools 4(2):7\u201325","journal-title":"J Graph Tools"},{"issue":"7","key":"278_CR34","doi-asserted-by":"publisher","first-page":"846","DOI":"10.1177\/0278364911406761","volume":"30","author":"S Karaman","year":"2011","unstructured":"Karaman S, Frazzoli E (2011) Sampling-based algorithms for optimal motion planning. Int J Robot Res 30(7):846\u2013894","journal-title":"Int J Robot Res"},{"key":"278_CR35","unstructured":"Ericson C (2004) The Gilbert-Johnson-Keerthi (GJK) algorithm. SIGGRAPH Presentation"},{"key":"278_CR36","doi-asserted-by":"crossref","unstructured":"Makino T, Harada T (2016) Cable collision avoidance of a pulley embedded cable-driven parallel robot by kinematic redundancy. In: Proceedings of the 4th international conference on control, mechatronics and automation. ACM, pp 117\u2013120","DOI":"10.1145\/3029610.3029620"},{"key":"278_CR37","doi-asserted-by":"crossref","unstructured":"Ebert-Uphoff I, Voglewede PA (2004) On the connections between cable-driven robots, parallel manipulators and grasping. In: 2004 IEEE international conference on robotics and automation (ICRA 2004), vol 5. IEEE, pp 4521\u20134526","DOI":"10.1109\/ROBOT.2004.1302430"},{"issue":"5","key":"278_CR38","doi-asserted-by":"publisher","first-page":"890","DOI":"10.1109\/TRO.2006.878967","volume":"22","author":"P Bosscher","year":"2006","unstructured":"Bosscher P, Riechel AT, Ebert-Uphoff I (2006) Wrench-feasible workspace generation for cable-driven robots. IEEE Trans Robot 22(5):890\u2013902","journal-title":"IEEE Trans Robot"},{"issue":"12","key":"278_CR39","doi-asserted-by":"publisher","first-page":"5689","DOI":"10.1007\/s12206-016-1139-9","volume":"30","author":"SW Hwang","year":"2016","unstructured":"Hwang SW, Bak JH, Yoon J, Park JH, Park JO (2016) Trajectory generation to suppress oscillations in under-constrained cable-driven parallel robots. J Mech Sci Technol 30(12):5689\u20135697","journal-title":"J Mech Sci Technol"},{"key":"278_CR40","doi-asserted-by":"crossref","unstructured":"Urmson C, Simmons R (2003) Approaches for heuristically biasing RRT growth. In: 2003 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2003), vol 2. IEEE, pp 1178\u20131183","DOI":"10.1109\/IROS.2003.1248805"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-019-00278-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11370-019-00278-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-019-00278-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,25]],"date-time":"2020-05-25T23:08:51Z","timestamp":1590448131000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11370-019-00278-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,5,27]]},"references-count":40,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2019,7]]}},"alternative-id":["278"],"URL":"https:\/\/doi.org\/10.1007\/s11370-019-00278-7","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,5,27]]},"assertion":[{"value":"1 May 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 May 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 May 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}