{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T07:57:33Z","timestamp":1770796653979,"version":"3.50.0"},"reference-count":27,"publisher":"Wiley","issue":"25-26","license":[{"start":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T00:00:00Z","timestamp":1759190400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/http\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Concurrency and Computation"],"published-print":{"date-parts":[[2025,11,30]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>With the rapid advancement of robotics technology, path planning has attracted extensive research attention. Reinforcement learning, owing to its ability to acquire optimal policies through continuous interaction with the environment, offers a promising solution for path planning in environments with incomplete or unknown information. However, reinforcement learning\u2010based path planning methods often suffer from high training complexity and low utilization of effective samples. To address these issues, this paper proposes an improved deep reinforcement learning (DRL) algorithm. The proposed approach builds upon the deep deterministic policy gradient (DDPG) algorithm and incorporates a short\u2010term goal planning strategy based on local perceptual information, which decomposes the global navigation task into multiple short\u2010term subgoals, thereby reducing task complexity and enhancing learning efficiency. Furthermore, a reward function integrating the artificial potential field (APF) method is designed to improve obstacle avoidance capability. To tackle the low utilization of effective experiences in DDPG, a dual experience pool strategy is introduced to improve experience utilization efficiency and accelerate model training. The parameters for short\u2010term goal selection are optimized through multiple comparative experiments, and the proposed method is evaluated against several DRL\u2010based path planning approaches in a static environment. Experimental results demonstrate that the improved algorithm significantly accelerates convergence. Moreover, dynamic environment simulation experiments verify that the proposed algorithm can effectively avoid moving obstacles and achieve safe navigation to the target position.<\/jats:p>","DOI":"10.1002\/cpe.70317","type":"journal-article","created":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T06:59:22Z","timestamp":1759301962000},"update-policy":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Improved\n                    <scp>DDPG<\/scp>\n                    \u2010Based Path Planning for Mobile Robots"],"prefix":"10.1002","volume":"37","author":[{"given":"Xianyong","family":"Ruan","sequence":"first","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China"},{"name":"Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology  Wuhan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0001-6058-5600","authenticated-orcid":false,"given":"Du","family":"Jiang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China"},{"name":"Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology  Wuhan China"},{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0003-3210-9257","authenticated-orcid":false,"given":"Juntong","family":"Yun","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China"},{"name":"Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology  Wuhan China"},{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0002-5886-1992","authenticated-orcid":false,"given":"Bo","family":"Tao","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China"},{"name":"Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology  Wuhan China"},{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuanmin","family":"Xie","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China"},{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Baojia","family":"Chen","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Hydroelectric Machinery Design &amp; Maintenance China Three Gorges University  Yicahng China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0002-6286-0909","authenticated-orcid":false,"given":"Meng","family":"Jia","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering Xinxiang University  Henan China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Huang","sequence":"additional","affiliation":[{"name":"Hubei Province Key Laboratory of Intelligent Information Processing and Real\u2010Time Industrial System Wuhan University of Science and Technology  Hubei China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,9,30]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.3390\/electronics13030542"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2024.104630"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3396023"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.3390\/machines12050321"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.118623"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics8060481"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.net.2025.103711"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-024-00527-4"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.3390\/s23198260"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.119906"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2024.104655"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2022.905983"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1177\/01423312241264860"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2025.113528"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.120495"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2024.111400"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.113632"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00500-024-09691-2"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2024.104822"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-023-09029-3"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2025.129916"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2024.3521508"},{"key":"e_1_2_9_24_1","doi-asserted-by":"publisher","DOI":"10.3390\/s23249802"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3223382"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22093579"},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.3390\/electronics13183746"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3535728"}],"container-title":["Concurrency and Computation: Practice and Experience"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/cpe.70317","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,12]],"date-time":"2025-11-12T09:05:59Z","timestamp":1762938359000},"score":1,"resource":{"primary":{"URL":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/onlinelibrary.wiley.com\/doi\/10.1002\/cpe.70317"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,30]]},"references-count":27,"journal-issue":{"issue":"25-26","published-print":{"date-parts":[[2025,11,30]]}},"alternative-id":["10.1002\/cpe.70317"],"URL":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/doi.org\/10.1002\/cpe.70317","archive":["Portico"],"relation":{},"ISSN":["1532-0626","1532-0634"],"issn-type":[{"value":"1532-0626","type":"print"},{"value":"1532-0634","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,30]]},"assertion":[{"value":"2025-07-02","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-09-16","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-09-30","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e70317"}}