{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T13:55:10Z","timestamp":1772027710909,"version":"3.50.1"},"reference-count":24,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2011,5,3]],"date-time":"2011-05-03T00:00:00Z","timestamp":1304380800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,5,3]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Two and one half\u2010dimensional (2.5D) grid maps are useful for navigation in outdoor environment or on non\u2010flat surface. However, little attention has been given to how to find an optimal path in a 2.5D grid map. The purpose of this paper is to develop a path\u2010planning method in a 2.5D grid map, which aims to provide an efficient solution to robot path planning no matter whether the robot is equipped with the prior knowledge of the environment.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A 2.5D grid representation is proposed to model non\u2010flat surface for mobile robots. According to the graph extracted from the 2.5D grid map, an improved searching approach derived from A* algorithm is presented for the shortest path planning. With reasonable assumption, the approach is improved for the path planning in unknown environment.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>It is confirmed by experiments that the proposed planning approach provide a solution to the problem of optimal path planning in 2.5 grid maps. Furthermore, the experiment results demonstrate that our 2.5D D* method leads to more efficient dynamic path planning for navigation in unknown environment.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper proposes a path\u2010planning approach in a 2.5D grid map which is used to represent a non\u2010flat surface. The approach is capable of efficient navigation no matter whether the global environmental information is available at the beginning of exploration.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911111122815","type":"journal-article","created":{"date-parts":[[2011,5,21]],"date-time":"2011-05-21T08:01:02Z","timestamp":1305964862000},"page":"315-321","source":"Crossref","is-referenced-by-count":17,"title":["Path planning for mobile robot in a 2.5\u2010dimensional grid\u2010based map"],"prefix":"10.1108","volume":"38","author":[{"given":"Jiajun","family":"Gu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qixin","family":"Cao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022031620190197400_b1","unstructured":"Ashlock, D.A., Manikas, T.W. and Ashenayi, K. 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