{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T18:25:08Z","timestamp":1775327108216,"version":"3.50.1"},"reference-count":39,"publisher":"Wiley","license":[{"start":{"date-parts":[[2023,6,16]],"date-time":"2023-06-16T00:00:00Z","timestamp":1686873600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100020453","name":"West Anhui University","doi-asserted-by":"publisher","award":["WXZR202015"],"award-info":[{"award-number":["WXZR202015"]}],"id":[{"id":"10.13039\/501100020453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100020453","name":"West Anhui University","doi-asserted-by":"publisher","award":["WXZR202120"],"award-info":[{"award-number":["WXZR202120"]}],"id":[{"id":"10.13039\/501100020453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100020453","name":"West Anhui University","doi-asserted-by":"publisher","award":["2022AH051675"],"award-info":[{"award-number":["2022AH051675"]}],"id":[{"id":"10.13039\/501100020453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010814","name":"Anhui Department of Education","doi-asserted-by":"publisher","award":["WXZR202015"],"award-info":[{"award-number":["WXZR202015"]}],"id":[{"id":"10.13039\/501100010814","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010814","name":"Anhui Department of Education","doi-asserted-by":"publisher","award":["WXZR202120"],"award-info":[{"award-number":["WXZR202120"]}],"id":[{"id":"10.13039\/501100010814","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010814","name":"Anhui Department of Education","doi-asserted-by":"publisher","award":["2022AH051675"],"award-info":[{"award-number":["2022AH051675"]}],"id":[{"id":"10.13039\/501100010814","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2023,6,16]]},"abstract":"<jats:p>In view of the problems of A<jats:inline-formula>\n                     <a:math xmlns:a=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M2\">\n                        <a:msup>\n                           <a:mrow\/>\n                           <a:mi>\u2217<\/a:mi>\n                        <\/a:msup>\n                     <\/a:math>\n                  <\/jats:inline-formula> algorithm in path planning, such as collision risk, the path is not necessarily optimal, and there are numerous turning nodes. Therefore, this study proposes an improved A<jats:inline-formula>\n                     <c:math xmlns:c=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M3\">\n                        <c:msup>\n                           <c:mrow\/>\n                           <c:mi>\u2217<\/c:mi>\n                        <\/c:msup>\n                     <\/c:math>\n                  <\/jats:inline-formula> algorithm to improve the quality of the planned path. First, the 8-neighborhood children of the parent node are generated, and the security of the planned path is improved by further investigating the properties of the neighbors of these children one by one to reasonably set virtual obstacles. Second, the heuristic function of A<jats:inline-formula>\n                     <e:math xmlns:e=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M4\">\n                        <e:msup>\n                           <e:mrow\/>\n                           <e:mi>\u2217<\/e:mi>\n                        <\/e:msup>\n                     <\/e:math>\n                  <\/jats:inline-formula> algorithm is ameliorated to make it closer to the actual cost, so as to enhance the accuracy of the planned path; finally, the planned path is smoothed by using the cubic uniform B-spline curve to eliminate corner sharp points in the path. The simulation results show that the improved A<jats:inline-formula>\n                     <g:math xmlns:g=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M5\">\n                        <g:msup>\n                           <g:mrow\/>\n                           <g:mi>\u2217<\/g:mi>\n                        <\/g:msup>\n                     <\/g:math>\n                  <\/jats:inline-formula> algorithm can not only ensure the safety and smoothness of the planned path but also obtain the shortest planned path in the static environment with different obstacle rates. In addition, we combine the improved A<jats:inline-formula>\n                     <i:math xmlns:i=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M6\">\n                        <i:msup>\n                           <i:mrow\/>\n                           <i:mi>\u2217<\/i:mi>\n                        <\/i:msup>\n                     <\/i:math>\n                  <\/jats:inline-formula> algorithm with the dynamic window algorithm to enable mobile robots to realize real-time dynamic obstacle avoidance while ensuring the optimality of global path planning.<\/jats:p>","DOI":"10.1155\/2023\/5098156","type":"journal-article","created":{"date-parts":[[2023,6,17]],"date-time":"2023-06-17T01:20:07Z","timestamp":1686964807000},"page":"1-19","source":"Crossref","is-referenced-by-count":3,"title":["Research on Static\/Dynamic Global Path Planning Based on Improved A<a:math xmlns:a=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M1\">\n                     <a:msup>\n                        <a:mrow\/>\n                        <a:mi>\u2217<\/a:mi>\n                     <\/a:msup>\n                  <\/a:math> Algorithm for Mobile Robots"],"prefix":"10.1155","volume":"2023","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3861-0595","authenticated-orcid":true,"given":"Huifang","family":"Bao","sequence":"first","affiliation":[{"name":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1382-9884","authenticated-orcid":true,"given":"Jie","family":"Fang","sequence":"additional","affiliation":[{"name":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chaohai","family":"Wang","sequence":"additional","affiliation":[{"name":"Anhui Wanxiang Power Equipment Co., Ltd., Lu\u2019an 237012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zebin","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinsi","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuansheng","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electrical and Photoelectronic Engineering, West Anhui University, Lu\u2019an 237012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2017.12.011"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jksuci.2018.03.003"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1016\/j.future.2021.03.007"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/2383\/1\/012091"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.3892\/ijmm.2019.4254"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.22153\/kej.2019.01.004"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/access.2021.3055231"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.3390\/electronics9030534"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/access.2022.3197628"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2984802"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1007\/s12652-020-01877-4"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.2112\/jcr-si111-050.1"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/access.2019.2949835"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.3390\/su142215137"},{"key":"15","article-title":"Mobile robot path planning using membrane evolutionary artificial potential field","author":"U. Orozco-Rosas","year":"2019","journal-title":"Applied Soft Computing"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/1486\/3\/032018"},{"key":"17","first-page":"1","article-title":"Probabilistic robust path planning for nonholonomic arbitrary-shaped mobile robots using a hybrid A\u2217 algorithm","volume":"99","author":"T. Rainer","year":"2021","journal-title":"IEEE Access"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.3390\/sym13112213"},{"key":"19","article-title":"Mobile robot path planning based on fusion of improved A\u2217 algorithm and adaptive DWA algorithm","volume":"2330","author":"Z. Xu","year":"2022","journal-title":"Journal of Physics: Conference Series"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2014.12.098"},{"key":"21","first-page":"3570","article-title":"Path planning of mobile robotbased on improved A\u2217 algorithm","author":"M. Lin"},{"issue":"5","key":"22","first-page":"1523","article-title":"The shortest path planning for mobile robots using improved A\u223c\u2217 algorithm","volume":"38","author":"W. Wang","year":"2018","journal-title":"Journal of Computer Applications"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.3390\/a11040044"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2018.01.113"},{"issue":"4","key":"25","first-page":"494","article-title":"Improved A\u2217 algorithm in path planning of mobile robot","volume":"31","author":"X.-Q. Shen","year":"2021","journal-title":"Journal of Heilongjiang University of Science & Technology"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2019.11.136"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2014.04.023"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1016\/j.egyr.2021.09.137"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2022.04.128"},{"key":"30","first-page":"627","article-title":"An Improved A\u2217 Algorithm for Searching Infinite Neighborhoods","volume":"36","author":"Y. Xin","year":"2014","journal-title":"Robot"},{"issue":"2","key":"31","first-page":"362","article-title":"Improved A\u2217 algorithm for path planning of mobile robot","volume":"44","author":"H.-J. Chai","year":"2021","journal-title":"Chinese Journal of Electron Devices"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.04.007"},{"key":"33","article-title":"Heuristics from amit's thoughts on pathfinding","author":"Red Blob Games","year":"2016"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2021.10.140"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2018.11.559"},{"key":"36","doi-asserted-by":"publisher","DOI":"10.3390\/app12199465"},{"key":"37","article-title":"Path planning of mobile robot based on improved PRM based on cubic spline","author":"X. Ma","year":"2022","journal-title":"Wireless Communications and Mobile Computing"},{"issue":"3","key":"38","article-title":"Cubic spline interpolation-based robot path planning using a chaotic adaptive particle swarm optimization algorithm","volume":"2020","author":"J. F. Lian","year":"2020","journal-title":"Mathematical Problems in Engineering"},{"key":"39","article-title":"The shared control dynamic window approach for non-holonomic semi-autonomous robots","author":"P. Inigo-Blasco","year":"2014","journal-title":"International Symposium on Robotics"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2023\/5098156.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2023\/5098156.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2023\/5098156.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,17]],"date-time":"2023-06-17T01:20:18Z","timestamp":1686964818000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jr\/2023\/5098156\/"}},"subtitle":[],"editor":[{"given":"Weitian","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2023,6,16]]},"references-count":39,"alternative-id":["5098156","5098156"],"URL":"https:\/\/doi.org\/10.1155\/2023\/5098156","relation":{},"ISSN":["1687-9619","1687-9600"],"issn-type":[{"value":"1687-9619","type":"electronic"},{"value":"1687-9600","type":"print"}],"subject":[],"published":{"date-parts":[[2023,6,16]]}}}