{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T03:26:09Z","timestamp":1781234769727,"version":"3.54.1"},"reference-count":45,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2019,1,1]],"date-time":"2019-01-01T00:00:00Z","timestamp":1546300800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"Science and Technology Innovation Committee of Shenzhen","award":["JCYJ20170818092931604"],"award-info":[{"award-number":["JCYJ20170818092931604"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61790565"],"award-info":[{"award-number":["61790565"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61771281"],"award-info":[{"award-number":["61771281"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"\u201cNew Generation Artificial Intelligence\u201d major project of China","award":["2018AAA0101605"],"award-info":[{"award-number":["2018AAA0101605"]}]},{"name":"2018 Industrial Internet Innovation and Development Project"},{"DOI":"10.13039\/501100004147","name":"Tsinghua University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004147","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2019]]},"DOI":"10.1109\/access.2019.2960326","type":"journal-article","created":{"date-parts":[[2019,12,17]],"date-time":"2019-12-17T21:02:17Z","timestamp":1576616537000},"page":"183150-183161","source":"Crossref","is-referenced-by-count":19,"title":["A Gridmap-Path Reshaping Algorithm for Path Planning"],"prefix":"10.1109","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9367-5290","authenticated-orcid":false,"given":"Chaoyi","family":"Sun","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6013-1921","authenticated-orcid":false,"given":"Qing","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9428-1960","authenticated-orcid":false,"given":"Li","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1007\/978-3-642-56205-1_3","article-title":"Beamlets and multiscale image analysis","author":"donoho","year":"2002","journal-title":"Proc Multiscale Multiresolution Methods"},{"key":"ref38","first-page":"3533","article-title":"Solving shortest path problems with curvature constraints using beamlets","author":"oktay","year":"2011","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst (IROS)"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980280"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152817"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-40533-9_11"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2017.08.004"},{"key":"ref37","doi-asserted-by":"crossref","first-page":"3170","DOI":"10.3390\/s18093170","article-title":"Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges","volume":"18","author":"ravankar","year":"2018","journal-title":"SENSORS"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406562"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2003.821952"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.031"},{"key":"ref10","first-page":"767","article-title":"ARA*: Anytime A* with provable bounds on sub-optimality","author":"likhachev","year":"2004","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1145\/800057.808695"},{"key":"ref11","article-title":"Online graph pruning for pathfinding on grid maps","author":"harabor","year":"2011","journal-title":"Proc 25th AAAI Conf Artif Intell"},{"key":"ref12","article-title":"Improving jump point search","author":"harabor","year":"2014","journal-title":"Proc of the Int Conf on Automated Planning and Scheduling"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915594029"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139515"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1145\/3318164"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"ref18","first-page":"188","article-title":"Optimal motion planning with the half-car dynamical model for autonomous high-speed driving","author":"jeon","year":"2013","journal-title":"Proc Amer Control Conf (ACC)"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915614386"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1137\/16M1091460"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"ref27","first-page":"835","article-title":"A convex optimization approach to smooth trajectories for motion planning with car-like robots","author":"zhu","year":"2015","journal-title":"Proc IEEE Conf Decis Control (CDC)"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref6","volume":"124","author":"latombe","year":"2012","journal-title":"Robot Motion Planning"},{"key":"ref29","first-page":"4177","article-title":"Convex feasible set algorithm for constrained trajectory smoothing","author":"liu","year":"2018","journal-title":"Proc Amer Control Conf (ACC)"},{"key":"ref5","article-title":"Cell decompositions","author":"choset","year":"2005","journal-title":"Principles of Robot Motion Theory Algorithms and Implementations"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/BF01386390"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/70.88035"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2015.09.011"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1145\/1056777.1056779"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2018.02.001"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942976"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.2307\/3001968"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.2307\/2372560"},{"key":"ref21","first-page":"2943","article-title":"A comparison study on path smoothing algorithms for laser robot navigated mobile robot path planning in intelligent space","volume":"7","author":"song","year":"2010","journal-title":"J Inf Comput Sci"},{"key":"ref42","first-page":"131","article-title":"Filling space with random fractal non-overlapping simple shapes","author":"john","year":"2011","journal-title":"Proc Hyperseeing Summer"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2839884"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-31137-6_2"},{"key":"ref23","doi-asserted-by":"crossref","first-page":"507","DOI":"10.1109\/TRO.2013.2283928","article-title":"Real-time approximation of clothoids with bounded error for path planning applications","volume":"30","author":"brezak","year":"2013","journal-title":"IEEE Trans Robot"},{"key":"ref44","author":"grant","year":"2010","journal-title":"CVX Matlab Software for Disciplined Convex Programming Version 2 1"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7525449"},{"key":"ref43","year":"2019","journal-title":"CFS"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2014-6048"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/8600701\/08935229.pdf?arnumber=8935229","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,27]],"date-time":"2022-01-27T08:32:51Z","timestamp":1643272371000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8935229\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019]]},"references-count":45,"URL":"https:\/\/doi.org\/10.1109\/access.2019.2960326","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019]]}}}