{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T14:56:34Z","timestamp":1773932194227,"version":"3.50.1"},"reference-count":45,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T00:00:00Z","timestamp":1723248000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["41974033"],"award-info":[{"award-number":["41974033"]}]},{"name":"National Natural Science Foundation of China","award":["BA2020004"],"award-info":[{"award-number":["BA2020004"]}]},{"name":"National Natural Science Foundation of China","award":["CMS-E-0123G04"],"award-info":[{"award-number":["CMS-E-0123G04"]}]},{"name":"National Natural Science Foundation of China","award":["2024-ZSJ-LB-02-05"],"award-info":[{"award-number":["2024-ZSJ-LB-02-05"]}]},{"name":"Scientific and Technological Achievements Program of Jiangsu Province","award":["41974033"],"award-info":[{"award-number":["41974033"]}]},{"name":"Scientific and Technological Achievements Program of Jiangsu Province","award":["BA2020004"],"award-info":[{"award-number":["BA2020004"]}]},{"name":"Scientific and Technological Achievements Program of Jiangsu Province","award":["CMS-E-0123G04"],"award-info":[{"award-number":["CMS-E-0123G04"]}]},{"name":"Scientific and Technological Achievements Program of Jiangsu Province","award":["2024-ZSJ-LB-02-05"],"award-info":[{"award-number":["2024-ZSJ-LB-02-05"]}]},{"name":"State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics","award":["41974033"],"award-info":[{"award-number":["41974033"]}]},{"name":"State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics","award":["BA2020004"],"award-info":[{"award-number":["BA2020004"]}]},{"name":"State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics","award":["CMS-E-0123G04"],"award-info":[{"award-number":["CMS-E-0123G04"]}]},{"name":"State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics","award":["2024-ZSJ-LB-02-05"],"award-info":[{"award-number":["2024-ZSJ-LB-02-05"]}]},{"name":"State Key Laboratory of helicopter dynamics","award":["41974033"],"award-info":[{"award-number":["41974033"]}]},{"name":"State Key Laboratory of helicopter dynamics","award":["BA2020004"],"award-info":[{"award-number":["BA2020004"]}]},{"name":"State Key Laboratory of helicopter dynamics","award":["CMS-E-0123G04"],"award-info":[{"award-number":["CMS-E-0123G04"]}]},{"name":"State Key Laboratory of helicopter dynamics","award":["2024-ZSJ-LB-02-05"],"award-info":[{"award-number":["2024-ZSJ-LB-02-05"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Mobile robots\u2019 efficient path planning has long been a challenging task due to the complexity and dynamism of environments. If an occupancy grid map is used in path planning, the number of grids is determined by grid resolution and the size of the actual environment. Excessively high resolution increases the number of traversed grid nodes and thus prolongs path planning time. To address this challenge, this paper proposes an efficient path planning algorithm based on laser SLAM and an optimized visibility graph for mobile robots, which achieves faster computation of the shortest path using the optimized visibility graph. Firstly, the laser SLAM algorithm is used to acquire the undistorted LiDAR point cloud data, which are converted into a visibility graph. Secondly, a bidirectional A* path search algorithm is combined with the Minimal Construct algorithm, enabling the robot to only compute heuristic paths to the target node during path planning in order to reduce search time. Thirdly, a filtering method based on edge length and the number of vertices of obstacles is proposed to reduce redundant vertices and edges in the visibility graph. Additionally, the bidirectional A* search method is implemented for pathfinding in the efficient path planning algorithm proposed in this paper to reduce unnecessary space searches. Finally, simulation and field tests are conducted to validate the algorithm and compare its performance with classic algorithms. The test results indicate that the method proposed in this paper exhibits superior performance in terms of path search time, navigation time, and distance compared to D* Lite, FAR, and FPS algorithms.<\/jats:p>","DOI":"10.3390\/rs16162938","type":"journal-article","created":{"date-parts":[[2024,8,12]],"date-time":"2024-08-12T08:54:08Z","timestamp":1723452848000},"page":"2938","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Efficient Path Planning Algorithm Based on Laser SLAM and an Optimized Visibility Graph for Robots"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-6762-1260","authenticated-orcid":false,"given":"Yunjie","family":"Hu","sequence":"first","affiliation":[{"name":"School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210023, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5426-8390","authenticated-orcid":false,"given":"Fei","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210023, China"}]},{"given":"Jiquan","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210023, China"}]},{"given":"Jing","family":"Zhao","sequence":"additional","affiliation":[{"name":"The College of Automation and Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China"}]},{"given":"Qi","family":"Mao","sequence":"additional","affiliation":[{"name":"School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210023, China"}]},{"given":"Fei","family":"Zhao","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310058, China"}]},{"given":"Xixiang","family":"Liu","sequence":"additional","affiliation":[{"name":"The College of Instrument Science & Engineering, Southeast University, Nanjing 210096, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zhang, H., Lin, W., and Chen, A. 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