{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T03:10:39Z","timestamp":1778037039330,"version":"3.51.4"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T00:00:00Z","timestamp":1766102400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T00:00:00Z","timestamp":1766102400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2026,1]]},"DOI":"10.1007\/s11370-025-00670-6","type":"journal-article","created":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T07:13:56Z","timestamp":1766128436000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Multi-target point path planning algorithm for mobile robot based on probabilistic roadmap"],"prefix":"10.1007","volume":"19","author":[{"given":"Likun","family":"Hu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-5581-8184","authenticated-orcid":false,"given":"Zhe","family":"Kong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,12,19]]},"reference":[{"issue":"1","key":"670_CR1","doi-asserted-by":"publisher","first-page":"1632046","DOI":"10.1080\/23311916.2019.1632046","volume":"6","author":"F Gul","year":"2019","unstructured":"Gul F, Rahiman W, Alhady SSN (2019) A comprehensive study for robot navigation techniques. Cogent Eng 6(1):1632046. https:\/\/doi.org\/10.1080\/23311916.2019.1632046","journal-title":"Cogent Eng"},{"key":"670_CR2","doi-asserted-by":"publisher","first-page":"6657","DOI":"10.1007\/s11276-023-03491-6","volume":"30","author":"G Peng","year":"2024","unstructured":"Peng G, Wen Y, Li T, Chen A, Zhao Y (2024) Planning city-wide delivery paths for periodical logistics tasks in smart supply chains. Wireless Netw 30:6657\u20136674. https:\/\/doi.org\/10.1007\/s11276-023-03491-6","journal-title":"Wireless Netw"},{"key":"670_CR3","doi-asserted-by":"crossref","unstructured":"Shi K, Zhang H, Zhang Z, Zhou X (2020) The algorithm of terminal logistics path planning based on TSP problem. 2020 International conference on artificial intelligence and computer engineering (ICAICE), pp 130\u2013133","DOI":"10.1109\/ICAICE51518.2020.00031"},{"key":"670_CR4","doi-asserted-by":"publisher","DOI":"10.1155\/2022\/7025081","author":"F Wang","year":"2022","unstructured":"Wang F, Zhang Z (2022) Route control and behavior decision of intelligent driverless truck based on artificial intelligence technology. Wirel Commun Mob Comput. https:\/\/doi.org\/10.1155\/2022\/7025081","journal-title":"Wirel Commun Mob Comput"},{"key":"670_CR5","doi-asserted-by":"publisher","first-page":"8621","DOI":"10.1177\/09544062221085886","volume":"236","author":"J Luo","year":"2022","unstructured":"Luo J, Li S, Li H, Xia F (2022) Intelligent network vehicle driving risk field modeling and path planning for autonomous obstacle avoidance. Proc Inst Mech Eng C J Mech Eng Sci 236:8621\u20138634","journal-title":"Proc Inst Mech Eng C J Mech Eng Sci"},{"key":"670_CR6","doi-asserted-by":"publisher","first-page":"3217","DOI":"10.1007\/s00500-022-06871-w","volume":"26","author":"C Dudeja","year":"2022","unstructured":"Dudeja C, Kumar P (2022) An improved weighted sum-fuzzy Dijkstra\u2019s algorithm for shortest path problem (iWSFDA). Soft Comput 26:3217\u20133226. https:\/\/doi.org\/10.1007\/s00500-022-06871-w","journal-title":"Soft Comput"},{"issue":"11","key":"670_CR7","first-page":"1647","volume":"38","author":"H Wang","year":"2010","unstructured":"Wang H, Ma Y, Xie Y, Guo M (2010) Mobile robot optimal path planning based on smoothing A* algorithm. J Tongji Univ 38(11):1647\u20131650","journal-title":"J Tongji Univ"},{"key":"670_CR8","doi-asserted-by":"publisher","DOI":"10.1007\/s11042-024-19370-x","author":"T Zhou","year":"2024","unstructured":"Zhou T, Wei W (2024) Mobile robot path planning based on an improved ACO algorithm and path optimization. Multimedia Tools Appl. https:\/\/doi.org\/10.1007\/s11042-024-19370-x","journal-title":"Multimedia Tools Appl"},{"key":"670_CR9","doi-asserted-by":"crossref","unstructured":"Li Y, Cheng F, Suo J (2010) Improved ACO inspired by logistics and distribution problem. 2010 2nd International Conference on Advanced Computer Control, vol 5, pp 369\u2013371","DOI":"10.1109\/ICACC.2010.5487086"},{"key":"670_CR10","doi-asserted-by":"publisher","first-page":"125206","DOI":"10.1016\/j.eswa.2024.125206","volume":"258","author":"S Ganesan","year":"2024","unstructured":"Ganesan S, Ramalingam B, Mohan RE (2024) A hybrid sampling-based RRT* path planning algorithm for autonomous mobile robot navigation. Expert Syst Appl 258:125206. https:\/\/doi.org\/10.1016\/j.eswa.2024.125206","journal-title":"Expert Syst Appl"},{"issue":"11","key":"670_CR11","first-page":"3211","volume":"42","author":"Y Xue","year":"2021","unstructured":"Xue Y, Sun Y, Ye K, Li R, Hua Q (2021) Improved PRM algorithm based on approximate nearest neighbor search. Comput Eng Des 42(11):3211\u20133217","journal-title":"Comput Eng Des"},{"key":"670_CR12","doi-asserted-by":"publisher","DOI":"10.1155\/2022\/1632698","author":"X Ma","year":"2022","unstructured":"Ma X, Gong R, Tan Y, Mei H, Li C (2022) Path planning of mobile robot based on improved PRM based on cubic spline. Wirel Commun Mob Comput. https:\/\/doi.org\/10.1155\/2022\/1632698","journal-title":"Wirel Commun Mob Comput"},{"key":"670_CR13","doi-asserted-by":"crossref","unstructured":"Boor V, Overmars MH, van der Stappen AF (1999) The Gaussian sampling strategy for probabilistic roadmap planners. Proceedings of the 1999 IEEE international conference on robotics and automation (Cat. No.99CH36288C), vol 2, pp 1018\u20131023","DOI":"10.1109\/ROBOT.1999.772447"},{"key":"670_CR14","doi-asserted-by":"publisher","first-page":"609","DOI":"10.1007\/s11370-024-00527-4","volume":"17","author":"Y Huang","year":"2024","unstructured":"Huang Y, Wang H, Han L, Xu Y (2024) Robot path planning in narrow passages based on improved PRM method. Intell Serv Robot 17:609\u2013620. https:\/\/doi.org\/10.1007\/s11370-024-00527-4","journal-title":"Intell Serv Robot"},{"issue":"3","key":"670_CR15","doi-asserted-by":"publisher","first-page":"100112","DOI":"10.1016\/j.birob.2023.100112","volume":"3","author":"R Yang","year":"2023","unstructured":"Yang R, Li J, Jia Z, Wang S, Yao H, Dong E (2023) EPL-PRM: equipotential line sampling strategy for probabilistic roadmap planners in narrow passages. Biomim Intell Robot 3(3):100112. https:\/\/doi.org\/10.1016\/j.birob.2023.100112","journal-title":"Biomim Intell Robot"},{"key":"670_CR16","doi-asserted-by":"crossref","unstructured":"Hsu D, Jiang T, Reif J, Sun Z (2003) The bridge test for sampling narrow passages with probabilistic roadmap planners. 2003 IEEE international conference on robotics and automation (Cat. No.03CH37422), vol 3, pp 4420\u20134426","DOI":"10.1109\/ROBOT.2003.1242285"},{"key":"670_CR17","doi-asserted-by":"publisher","first-page":"221743","DOI":"10.1109\/ACCESS.2020.3043333","volume":"8","author":"AA Ravankar","year":"2020","unstructured":"Ravankar AA, Ravankar A, Emaru T, Kobayashi Y (2020) HPPRM: hybrid potential based probabilistic roadmap algorithm for improved dynamic path planning of mobile robots. IEEE Access 8:221743\u2013221766","journal-title":"IEEE Access"},{"issue":"2","key":"670_CR18","first-page":"1","volume":"42","author":"D Xu","year":"2023","unstructured":"Xu D, Hu L, Wang X, Liu H (2023) Narrow area sampling and trajectory optimization based on probabilistic roadmap. For Electron Measurement Technol 42(2):1\u20138","journal-title":"For Electron Measurement Technol"},{"key":"670_CR19","doi-asserted-by":"publisher","first-page":"102196","DOI":"10.1016\/j.rcim.2021.102196","volume":"72","author":"G Chen","year":"2021","unstructured":"Chen G, Luo N, Liu D, Zhao Z, Liang C (2021) Path planning for manipulators based on an improved probabilistic roadmap method. Robot Comput Integr Manuf 72:102196. https:\/\/doi.org\/10.1016\/j.rcim.2021.102196","journal-title":"Robot Comput Integr Manuf"},{"issue":"2","key":"670_CR20","first-page":"65","volume":"44","author":"W Li","year":"2023","unstructured":"Li W, Wang L, Zou A, Cai J, Li F, Su X (2023) AGV path planning based on PRM and ant colony optimization fusion algorithm. J Jinggangshan Univ (Nat Sci Ed) 44(2):65\u201370","journal-title":"J Jinggangshan Univ (Nat Sci Ed)"},{"issue":"7","key":"670_CR21","doi-asserted-by":"publisher","first-page":"3512","DOI":"10.3390\/s23073512","volume":"23","author":"C Liu","year":"2023","unstructured":"Liu C, Xie S, Sui X, Huang Y, Ma X, Guo N, Yang F (2023) PRM-D* method for mobile robot path planning. Sensors 23(7):3512. https:\/\/doi.org\/10.3390\/s23073512","journal-title":"Sensors"},{"key":"670_CR22","doi-asserted-by":"publisher","first-page":"100649","DOI":"10.1016\/j.swevo.2020.100649","volume":"54","author":"P Kr\u00f6mer","year":"2020","unstructured":"Kr\u00f6mer P, Plato\u0161 J, Sn\u00e1\u0161el V (2020) Differential evolution for the optimization of low-discrepancy generalized Halton sequences. Swarm Evol Comput 54:100649. https:\/\/doi.org\/10.1016\/j.swevo.2020.100649","journal-title":"Swarm Evol Comput"},{"key":"670_CR23","first-page":"247","volume":"12","author":"KT Le","year":"2018","unstructured":"Le KT, McRoy M, Diop A (2018) Randomization in small sample surveys with the Halton sequence. Surv Res Methods 12:247\u2013257","journal-title":"Surv Res Methods"},{"issue":"2","key":"670_CR24","first-page":"127","volume":"34","author":"A Feng","year":"2024","unstructured":"Feng A, Yang J, Xie Y, Sun Y, Wang X, Xian J (2024) Robot path planning based on improved PRM algorithm. Comput Technol Dev 34(2):127\u2013133","journal-title":"Comput Technol Dev"},{"key":"670_CR25","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1016\/j.compchemeng.2018.05.007","volume":"115","author":"N Dige","year":"2018","unstructured":"Dige N, Diwekar U (2018) Efficient sampling algorithm for large-scale optimization under uncertainty problems. Comput Chem Eng 115:431\u2013454. https:\/\/doi.org\/10.1016\/j.compchemeng.2018.05.007","journal-title":"Comput Chem Eng"},{"issue":"2","key":"670_CR26","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1016\/j.trb.2004.10.005","volume":"40","author":"S Hess","year":"2006","unstructured":"Hess S, Train KE, Polak JW (2006) On the use of a modified Latin hypercube sampling (MLHS) method in the estimation of a mixed logit model for vehicle choice. Transp Res Part B Methodol 40(2):147\u2013163. https:\/\/doi.org\/10.1016\/j.trb.2004.10.005","journal-title":"Transp Res Part B Methodol"},{"key":"670_CR27","doi-asserted-by":"publisher","first-page":"987","DOI":"10.1007\/s00521-014-1773-z","volume":"26","author":"R Ahmad","year":"2015","unstructured":"Ahmad R, Kim D (2015) An extended self-organizing map based on 2-opt algorithm for solving symmetrical traveling salesperson problem. Neural Comput Appl 26:987\u2013994. https:\/\/doi.org\/10.1007\/s00521-014-1773-z","journal-title":"Neural Comput Appl"},{"key":"670_CR28","doi-asserted-by":"crossref","unstructured":"Xu L, Wang D, Song B, Cao M (2017) Global smooth path planning for mobile robots based on continuous Bezier curve. 2017 Chinese automation congress (CAC), pp 2081\u20132085","DOI":"10.1109\/CAC.2017.8243114"},{"key":"670_CR29","doi-asserted-by":"publisher","first-page":"1187","DOI":"10.1177\/00202940221139327","volume":"56","author":"N Cao","year":"2023","unstructured":"Cao N, Yi G, Zhang S, Qiu L (2023) A multiobjective path-smoothing algorithm based on node adjustment and turn-smoothing. Meas Control 56:1187\u20131201","journal-title":"Meas Control"},{"issue":"4","key":"670_CR30","doi-asserted-by":"publisher","first-page":"1905","DOI":"10.1109\/LRA.2023.3241812","volume":"8","author":"L Wang","year":"2023","unstructured":"Wang L, Guo Y (2023) Speed adaptive robot trajectory generation based on derivative property of B-spline curve. IEEE Robot Autom Lett 8(4):1905\u20131911","journal-title":"IEEE Robot Autom Lett"},{"key":"670_CR31","doi-asserted-by":"publisher","first-page":"99851","DOI":"10.1109\/ACCESS.2024.3429377","volume":"12","author":"Q Tan","year":"2024","unstructured":"Tan Q, Basri MAM, Wang J (2024) Constant force control and trajectory planning of multi-axis polishing machine using active disturbance rejection control and B-spline curve algorithm. IEEE Access 12:99851\u201399871","journal-title":"IEEE Access"},{"key":"670_CR32","doi-asserted-by":"crossref","unstructured":"Ravankar A, Ravankar AA, Kobayashi Y, Emaru T (2016) Path smoothing extension for various robot path planners. 2016 16th International conference on control, automation and systems (ICCAS), pp 263\u2013268","DOI":"10.1109\/ICCAS.2016.7832330"},{"issue":"16","key":"670_CR33","first-page":"118","volume":"56","author":"N Wei","year":"2020","unstructured":"Wei N, Jiang Y, Liu Y, Xin Y, Hong Y (2020) Method of PRM path optimization based on key nodes and smooth processing. Comput Eng Appl 56(16):118\u2013123","journal-title":"Comput Eng Appl"},{"issue":"9","key":"670_CR34","first-page":"333","volume":"40","author":"H Liu","year":"2023","unstructured":"Liu H, Lei B, Wang Y, Chai H (2023) Improved fused genetic grey wolf optimization algorithm for solving TSP. Comput Simul 40(9):333\u2013338","journal-title":"Comput Simul"},{"issue":"4","key":"670_CR35","first-page":"130","volume":"53","author":"H Chen","year":"2024","unstructured":"Chen H, Dou P, Cheng C, Wang Z (2024) Multi-objective point path planning for wind turbine waters based on Bi-RRT and TEB algorithms. Ship & Ocean Eng 53(4):130\u2013136","journal-title":"Ship & Ocean Eng"},{"key":"670_CR36","doi-asserted-by":"publisher","first-page":"111400","DOI":"10.1016\/j.knosys.2024.111400","volume":"286","author":"Q Zhou","year":"2024","unstructured":"Zhou Q, Lian Y, Wu J, Zhu M, Wang H, Cao J (2024) An optimized Q-Learning algorithm for mobile robot local path planning. Knowl Based Syst 286:111400","journal-title":"Knowl Based Syst"},{"issue":"11","key":"670_CR37","doi-asserted-by":"publisher","first-page":"e32167","DOI":"10.1016\/j.heliyon.2024.e32167","volume":"10","author":"P Li","year":"2024","unstructured":"Li P, Chen D, Wang Y, Zhang L, Zhao S (2024) Path planning of mobile robot based on improved TD3 algorithm in dynamic environment. Heliyon 10(11):e32167","journal-title":"Heliyon"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00670-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-025-00670-6","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00670-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T02:16:17Z","timestamp":1778033777000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-025-00670-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,19]]},"references-count":37,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,1]]}},"alternative-id":["670"],"URL":"https:\/\/doi.org\/10.1007\/s11370-025-00670-6","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,19]]},"assertion":[{"value":"10 March 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 October 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 December 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"9"}}