{"id":"https://openalex.org/W4399939495","doi":"https://doi.org/10.1109/tie.2024.3409883","title":"Efficient and Near-Optimal Global Path Planning for AGVs: A DNN-Based Double Closed-Loop Approach With Guarantee Mechanism","display_name":"Efficient and Near-Optimal Global Path Planning for AGVs: A DNN-Based Double Closed-Loop Approach With Guarantee Mechanism","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4399939495","doi":"https://doi.org/10.1109/tie.2024.3409883"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3409883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3409883","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000502578","display_name":"Runda Zhang","orcid":"https://orcid.org/0009-0000-3782-356X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Runda Zhang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-3782-356X","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runqi Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4083-8863","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056539856","display_name":"Kaiyuan Chen","orcid":"https://orcid.org/0000-0001-5165-0802"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiyuan Chen","raw_affiliation_strings":["Vanke School of Public Health, Tsinghua Institute for Healthy China, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5165-0802","affiliations":[{"raw_affiliation_string":"Vanke School of Public Health, Tsinghua Institute for Healthy China, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100619396","display_name":"Jinning Zhang","orcid":"https://orcid.org/0000-0002-6188-4108"},"institutions":[{"id":"https://openalex.org/I153648349","display_name":"University of Leicester","ror":"https://ror.org/04h699437","country_code":"GB","type":"education","lineage":["https://openalex.org/I153648349"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jinning Zhang","raw_affiliation_strings":["School of Engineering, University of Leicester, Leicester, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6188-4108","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Leicester, Leicester, U.K","institution_ids":["https://openalex.org/I153648349"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070349528","display_name":"Senchun Chai","orcid":"https://orcid.org/0000-0003-1910-1795"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senchun Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1910-1795","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085012064","display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antonios Tsourdos","raw_affiliation_strings":["School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3966-7633","affiliations":[{"raw_affiliation_string":"School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5000502578"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":2.1427,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.88433838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"72","issue":"1","first_page":"681","last_page":"692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9218000173568726,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9180999994277954,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.617681086063385},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.60185706615448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5819498300552368},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5669452548027039},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5610212683677673},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5034200549125671},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39947986602783203},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31473076343536377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2697952389717102},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23334309458732605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22788742184638977},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21839448809623718},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13717016577720642},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09535133838653564},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0782613754272461}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.617681086063385},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.60185706615448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5819498300552368},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5669452548027039},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5610212683677673},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5034200549125671},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39947986602783203},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31473076343536377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2697952389717102},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23334309458732605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22788742184638977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21839448809623718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13717016577720642},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09535133838653564},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0782613754272461},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3409883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3409883","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1970805560","https://openalex.org/W1971086298","https://openalex.org/W1982100856","https://openalex.org/W2000359213","https://openalex.org/W2069710460","https://openalex.org/W2128990851","https://openalex.org/W2803012509","https://openalex.org/W2890765305","https://openalex.org/W2897475330","https://openalex.org/W2900861938","https://openalex.org/W2906415336","https://openalex.org/W2963130659","https://openalex.org/W2997053319","https://openalex.org/W3011646207","https://openalex.org/W3022310485","https://openalex.org/W3025305679","https://openalex.org/W3107253669","https://openalex.org/W3138440135","https://openalex.org/W3162002595","https://openalex.org/W4280590673","https://openalex.org/W4285108207","https://openalex.org/W4286370041","https://openalex.org/W4313039234","https://openalex.org/W4319866352","https://openalex.org/W4321767362","https://openalex.org/W4323338304","https://openalex.org/W4366148642","https://openalex.org/W4366548450","https://openalex.org/W4367280782","https://openalex.org/W4382657913","https://openalex.org/W4386078167","https://openalex.org/W4386432117","https://openalex.org/W4386475466","https://openalex.org/W4387757586","https://openalex.org/W4389692327","https://openalex.org/W4390534862","https://openalex.org/W4391514114"],"related_works":["https://openalex.org/W2382997850","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612","https://openalex.org/W3205689069"],"abstract_inverted_index":{"In":[0,89,111],"this":[1],"article,":[2],"a":[3,31,36,62],"novel":[4],"global":[5],"path":[6,77],"planning":[7,138],"approach":[8,29],"with":[9],"rapid":[10],"convergence":[11],"properties":[12],"for":[13],"autonomous":[14],"ground":[15],"vehicles":[16],"(AGVs)":[17],"named":[18],"neural":[19,95],"sampling":[20,109],"rapidly":[21,54],"exploring":[22,55],"random":[23,56],"tree":[24,57],"(NS-RRT*)":[25],"is":[26,44,82,98,118,129],"proposed.":[27],"This":[28],"has":[30],"three-layer":[32],"structure":[33],"to":[34,60,84,100,120,132,165],"obtain":[35],"feasible":[37],"and":[38,107,124,161,169],"near-optimal":[39,153],"path.":[40],"The":[41,140],"first":[42],"layer":[43],"the":[45,50,67,86,90,93,102,105,108,112,115,134,137,145,167,172],"data":[46],"collection":[47,63],"stage.":[48],"Utilizing":[49],"target":[51],"area":[52],"adaptive":[53],"(TAA-RRT*)":[58],"algorithm":[59,142,147],"establish":[61],"of":[64,136,171],"paths":[65],"considering":[66],"initial":[68],"noise":[69],"disturbance.":[70],"To":[71],"enhance":[72],"network":[73,96],"generalization,":[74],"an":[75,125],"optimal":[76,151],"backward":[78],"generation":[79],"(OPBG)":[80],"strategy":[81],"introduced":[83],"augment":[85],"dataset":[87],"size.":[88],"second":[91],"layer,":[92,114],"deep":[94],"(DNN)":[97],"trained":[99,116],"learn":[101],"relationships":[103],"between":[104],"states":[106],"strategies.":[110],"third":[113],"model":[117],"used":[119],"guide":[121],"RRT*":[122,146],"sampling,":[123],"efficient":[126],"guarantee":[127],"mechanism":[128],"also":[130],"designed":[131],"ensure":[133],"feasibility":[135,168],"task.":[139],"proposed":[141,173],"can":[143],"assist":[144],"in":[148],"efficiently":[149],"obtaining":[150],"or":[152],"strategies,":[154],"significantly":[155],"enhancing":[156],"search":[157],"efficiency.":[158],"Numerical":[159],"results":[160],"experiments":[162],"are":[163],"executed":[164],"demonstrate":[166],"efficiency":[170],"method.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}