{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T18:14:33Z","timestamp":1771956873392,"version":"3.50.1"},"reference-count":26,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2022,8,4]],"date-time":"2022-08-04T00:00:00Z","timestamp":1659571200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2023,1,2]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Path planning is a fundamental and significant issue in robotics research, especially for the legged robots, since it is the core technology for robots to complete complex tasks such as autonomous navigation and exploration. The purpose of this paper is to propose a path planning and tracking framework for the autonomous navigation of hexapod robots.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, a hexapod robot called Hexapod-Mini is briefly introduced. Then a path planning algorithm based on improved A* is proposed, which introduces the artificial potential field (APF) factor into the evaluation function to generate a safe and collision-free initial path. Then we apply a turning point optimization based on the greedy algorithm, which optimizes the number of turns of the path. And a fast-turning trajectory for hexapod robot is proposed, which is applied to path smoothing. Besides, a model predictive control-based motion tracking controller is used for path tracking.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The simulation and experiment results show that the framework can generate a safe, fast, collision-free and smooth path, and the author\u2019s Hexapod robot can effectively track the path that demonstrates the performance of the framework.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The work presented a framework for autonomous path planning and tracking of hexapod robots. This new approach overcomes the disadvantages of the traditional path planning approach, such as lack of security, insufficient smoothness and an excessive number of turns. And the proposed method has been successfully applied to an actual hexapod robot.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-01-2022-0028","type":"journal-article","created":{"date-parts":[[2022,8,2]],"date-time":"2022-08-02T11:45:09Z","timestamp":1659440709000},"page":"135-144","source":"Crossref","is-referenced-by-count":21,"title":["Improved A* algorithm and model predictive control- based path planning and tracking framework for hexapod robots"],"prefix":"10.1108","volume":"50","author":[{"given":"Zelin","family":"Wang","sequence":"first","affiliation":[]},{"given":"Feng","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Yue","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Yunpeng","family":"Yin","sequence":"additional","affiliation":[]},{"given":"Liangyu","family":"Wang","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2022,8,4]]},"reference":[{"key":"key2022122715133079900_ref001","doi-asserted-by":"crossref","first-page":"107845","DOI":"10.1109\/ACCESS.2019.2933178","article-title":"Efficient modeling and evaluation of constraints in path planning for multi-legged walking robots","volume":"7","year":"2019","journal-title":"IEEE Access"},{"key":"key2022122715133079900_ref002","doi-asserted-by":"crossref","first-page":"110","DOI":"10.1016\/j.robot.2018.10.013","article-title":"Optimization-based legged odometry and sensor fusion for legged robot continuous localization","volume":"111","year":"2019","journal-title":"Robotics and Autonomous Systems"},{"issue":"7","key":"key2022122715133079900_ref003","doi-asserted-by":"crossref","first-page":"1063","DOI":"10.1002\/rob.21795","article-title":"Weaver: hexapod robot for autonomous navigation on unstructured terrain","volume":"35","year":"2018","journal-title":"Journal of Field Robotics"},{"issue":"1","key":"key2022122715133079900_ref004","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1109\/100.580977","article-title":"The dynamic window approach to collision avoidance","volume":"4","year":"1997","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"key2022122715133079900_ref005","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1016\/j.robot.2018.04.007","article-title":"An improved a* algorithm for the industrial robot path planning with high success rate and short length","volume":"106","year":"2018","journal-title":"Robotics and Autonomous Systems"},{"issue":"2","key":"key2022122715133079900_ref006","doi-asserted-by":"crossref","first-page":"2586","DOI":"10.1109\/LRA.2020.2972849","article-title":"Path planning with local motion estimations","volume":"5","year":"2020","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"key2022122715133079900_ref007","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","article-title":"A formal basis for the heuristic determination of minimum cost paths","volume":"4","year":"1968","journal-title":"IEEE Transactions on Systems Science and Cybernetics"},{"issue":"4","key":"key2022122715133079900_ref008","doi-asserted-by":"crossref","first-page":"1856","DOI":"10.1109\/LRA.2017.2712650","article-title":"Real-time path planning in unknown environments for bipedal robots","volume":"2","year":"2017","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"26","key":"key2022122715133079900_ref009","article-title":"Learning agile and dynamic motor skills for legged robots","volume":"4","year":"2019","journal-title":"Science Robotics"},{"issue":"7","key":"key2022122715133079900_ref010","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1177\/0278364911406761","article-title":"Sampling-based algorithms for optimal motion planning","volume":"30","year":"2011","journal-title":"The International Journal of Robotics Research"},{"issue":"4","key":"key2022122715133079900_ref011","doi-asserted-by":"crossref","first-page":"566","DOI":"10.1109\/70.508439","article-title":"Probabilistic roadmaps for path planning in high-dimensional configuration spaces","volume":"12","year":"1996","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"key2022122715133079900_ref012","first-page":"396","article-title":"Real-time obstacle avoidance for manipulators and mobile robots","volume-title":"\u2018Autonomous Robot Vehicles\u2019","year":"1986"},{"issue":"5","key":"key2022122715133079900_ref013","first-page":"378","article-title":"Randomized kinodynamic planning","volume":"15","year":"2001","journal-title":"The International Journal of Robotics Research"},{"issue":"8","key":"key2022122715133079900_ref014","doi-asserted-by":"crossref","first-page":"2585","DOI":"10.3390\/s18082585","article-title":"Modified a-star algorithm for efficient coverage path planning in tetris inspired self-reconfigurable robot with integrated laser sensor","volume":"18","year":"2018","journal-title":"Sensors"},{"key":"key2022122715133079900_ref015","article-title":"Warehouse-oriented optimal path planning for autonomous mobile fire-fighting robots","volume":"2020","year":"2020","journal-title":"Security and Communication Networks"},{"issue":"9","key":"key2022122715133079900_ref016","first-page":"1784","article-title":"A multirobot path-planning strategy for autonomous wilderness search and rescue","volume":"45","year":"2014","journal-title":"IEEE Transactions on Cybernetics"},{"issue":"12","key":"key2022122715133079900_ref017","doi-asserted-by":"crossref","first-page":"2527","DOI":"10.1007\/s11431-020-1588-5","article-title":"Novel method of gait switching in six-legged robot walking on continuous-non differentiable terrain by utilizing stability and interference criteria","volume":"63","year":"2020","journal-title":"Science China Technological Sciences"},{"key":"key2022122715133079900_ref018","article-title":"Path planning optimization of indoor mobile robot based on adaptive ant colony algorithm","volume":"156","year":"2021","journal-title":"Computers & Industrial Engineering"},{"key":"key2022122715133079900_ref019","article-title":"A boundary node method for path planning of mobile robots","volume":"123","year":"2020","journal-title":"Robotics and Autonomous Systems"},{"key":"key2022122715133079900_ref020","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1007\/978-1-4615-6325-9_11","article-title":"Optimal and efficient path planning for partially known environments","volume-title":"Intelligent Unmanned Ground Vehicles","year":"1997"},{"key":"key2022122715133079900_ref021","article-title":"Optimal configuration control of planar leg\/wheel mobile robots for flexible obstacle avoidance","volume":"101","year":"2020","journal-title":"Control Engineering Practice"},{"issue":"12","key":"key2022122715133079900_ref022","doi-asserted-by":"crossref","first-page":"10621","DOI":"10.1109\/TIE.2019.2962425","article-title":"Optimal path planning using generalized voronoi graph and multiple potential functions","volume":"67","year":"2020","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"6","key":"key2022122715133079900_ref023","doi-asserted-by":"crossref","first-page":"818","DOI":"10.1007\/s11431-016-9017-6","article-title":"Obstacle avoidance for a hexapod robot in unknown environment","volume":"60","year":"2017","journal-title":"Science China Technological Sciences"},{"issue":"4","key":"key2022122715133079900_ref024","doi-asserted-by":"crossref","first-page":"750","DOI":"10.1007\/s12555-011-0417-7","article-title":"Anytime synchronized-biased-greedy rapidly-exploring random tree path planning in two dimensional complex environments","volume":"9","year":"2011","journal-title":"International Journal of Control, Automation and Systems"},{"issue":"11","key":"key2022122715133079900_ref025","first-page":"8557","article-title":"A new robot navigation algorithm based on a double-layer ant algorithm and trajectory optimization","volume":"66","year":"2018","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"2","key":"key2022122715133079900_ref026","first-page":"541","article-title":"Cooperative path planning for target tracking in urban environments using unmanned air and ground vehicles","volume":"20","year":"2014","journal-title":"IEEE\/ASME Transactions on Mechatronics"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-01-2022-0028\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-01-2022-0028\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:17Z","timestamp":1753393097000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/50\/1\/135-144\/433391"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,4]]},"references-count":26,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2022,8,4]]},"published-print":{"date-parts":[[2023,1,2]]}},"alternative-id":["10.1108\/IR-01-2022-0028"],"URL":"https:\/\/doi.org\/10.1108\/ir-01-2022-0028","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,8,4]]}}}