{"id":"https://openalex.org/W4387572971","doi":"https://doi.org/10.3390/app132011183","title":"Real-Time Path Planning for Obstacle Avoidance in Intelligent Driving Sightseeing Cars Using Spatial Perception","display_name":"Real-Time Path Planning for Obstacle Avoidance in Intelligent Driving Sightseeing Cars Using Spatial Perception","publication_year":2023,"publication_date":"2023-10-11","ids":{"openalex":"https://openalex.org/W4387572971","doi":"https://doi.org/10.3390/app132011183"},"language":"en","primary_location":{"id":"doi:10.3390/app132011183","doi":"https://doi.org/10.3390/app132011183","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app132011183","pdf_url":"https://www.mdpi.com/2076-3417/13/20/11183/pdf?version=1697090515","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","oarl","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2076-3417/13/20/11183/pdf?version=1697090515","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030256046","display_name":"Xu Yang","orcid":"https://orcid.org/0000-0002-5887-2704","observed_orcids":["https://orcid.org/0000-0002-5887-2704"]},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Yang","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103274712","display_name":"Feiyang Wu","orcid":"https://orcid.org/0009-0007-2440-1596","observed_orcids":["https://orcid.org/0009-0007-2440-1596","https://orcid.org/0000-0003-3494-4205"]},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feiyang Wu","raw_affiliation_strings":["School of Automation, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114090237","display_name":"Ruchuan Li","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruchuan Li","raw_affiliation_strings":["Aerospace Information Research Institute, CAS Qilu, Jinan 250132, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, CAS Qilu, Jinan 250132, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dong Yao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Yao","raw_affiliation_strings":["Aerospace Information Research Institute, CAS Qilu, Jinan 250132, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, CAS Qilu, Jinan 250132, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lei Meng","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Meng","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100080, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046070894","display_name":"Aihua He","orcid":"https://orcid.org/0009-0000-6963-2514","observed_orcids":["https://orcid.org/0009-0000-6963-2514"]},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ankai He","raw_affiliation_strings":["National Engineering Research Center of Geographic Information System, China University of Geosciences, Wuhan 430074, China"],"raw_orcid":"https://orcid.org/0009-0000-6963-2514","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Geographic Information System, China University of Geosciences, Wuhan 430074, China","institution_ids":["https://openalex.org/I3124059619"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5046070894"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I3124059619","https://openalex.org/I4210137199"],"apc_list":{"value":2300,"currency":"CHF","value_usd":2558},"apc_paid":{"value":2300,"currency":"CHF","value_usd":2558},"fwci":0.8722,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.67103852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"13","issue":"20","first_page":"11183","last_page":"11183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.005200000014156103,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.0015999999595806003,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/real-time-path-planning","display_name":"real-time path planning","score":0.8069999814033508},{"id":"https://openalex.org/keywords/local-obstacle-avoidance","display_name":"local obstacle avoidance","score":0.8370000123977661},{"id":"https://openalex.org/keywords/intelligent-driving","display_name":"intelligent driving","score":0.6539999842643738},{"id":"https://openalex.org/keywords/spatial-perception","display_name":"spatial perception","score":0.9800000190734863},{"id":"https://openalex.org/keywords/b-spline-curves","display_name":"B-spline curves","score":0.8349999785423279},{"id":"https://openalex.org/keywords/bezier-curves","display_name":"B\u00e9zier curves","score":0.9800000190734863},{"id":"https://openalex.org/keywords/high-precision-positioning","display_name":"high-precision positioning","score":0.7149999737739563},{"id":"https://openalex.org/keywords/vehicle-stability","display_name":"vehicle stability","score":0.4480000138282776}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8936895132064819},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7335131764411926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5893750190734863},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5537968277931213},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4776405394077301},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4618726074695587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39226067066192627},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3674194812774658},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35978779196739197},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17039793729782104},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15409323573112488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09674778580665588},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/app132011183","doi":"https://doi.org/10.3390/app132011183","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app132011183","pdf_url":"https://www.mdpi.com/2076-3417/13/20/11183/pdf?version=1697090515","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","oarl","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3b55125e39604bf7be781d4623ef2d8f","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/3b55125e39604bf7be781d4623ef2d8f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Applied Sciences, Vol 13, Iss 20, p 11183 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/app132011183","doi":"https://doi.org/10.3390/app132011183","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app132011183","pdf_url":"https://www.mdpi.com/2076-3417/13/20/11183/pdf?version=1697090515","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","oarl","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G309674882","display_name":null,"funder_award_id":"2021YFB3901300","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387572971.pdf","grobid_xml":"https://content.openalex.org/works/W4387572971.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1604806209","https://openalex.org/W1919720996","https://openalex.org/W1963942272","https://openalex.org/W1968582771","https://openalex.org/W2032712781","https://openalex.org/W2044666243","https://openalex.org/W2102811245","https://openalex.org/W2134765105","https://openalex.org/W2198214380","https://openalex.org/W2273777546","https://openalex.org/W2306644740","https://openalex.org/W2380913082","https://openalex.org/W2604342234","https://openalex.org/W2895455014","https://openalex.org/W2939084069","https://openalex.org/W2946231253","https://openalex.org/W3095686063","https://openalex.org/W3114772654","https://openalex.org/W3130441348","https://openalex.org/W3131546716","https://openalex.org/W3198414597","https://openalex.org/W3208716311","https://openalex.org/W4210680312","https://openalex.org/W4226033290","https://openalex.org/W4287890476","https://openalex.org/W4290670567","https://openalex.org/W4300962429","https://openalex.org/W4306179760","https://openalex.org/W4307349022","https://openalex.org/W4311526752","https://openalex.org/W4313010601","https://openalex.org/W4361222322","https://openalex.org/W4361732501","https://openalex.org/W4385322639"],"related_works":["https://openalex.org/W4387169707","https://openalex.org/W7167669799","https://openalex.org/W4311526752","https://openalex.org/W7084293075","https://openalex.org/W3209236165","https://openalex.org/W2745461335","https://openalex.org/W4312964088","https://openalex.org/W2899688627","https://openalex.org/W4405294885","https://openalex.org/W4408069392"],"abstract_inverted_index":{"The":[0,88,176,199],"increasing":[1],"prevalence":[2],"of":[3,16,62,69,148,179,192,232],"intelligent":[4],"driving":[5],"sightseeing":[6,77,110,233],"vehicles":[7,27,78,234],"in":[8,145,215],"the":[9,13,45,60,66,109,113,132,146,149,180,204,229],"tourism":[10],"industry":[11],"underscores":[12],"critical":[14],"importance":[15],"real-time":[17,41,98,104],"planning":[18,56],"for":[19,131],"effective":[20],"local":[21,54,168,182,210],"obstacle":[22,85,123,133,150,169,183,211,236],"avoidance":[23,86,124,134,151,170,184,212,237],"paths":[24,163,171],"when":[25],"these":[26],"encounter":[28],"obstacles":[29],"during":[30,235],"operation.":[31],"To":[32],"fulfill":[33],"this":[34,49],"requirement,":[35],"it":[36],"is":[37,187],"imperative":[38],"to":[39,102,108,127,228],"establish":[40],"dynamic":[42,99],"perception":[43,100],"as":[44],"foundational":[46],"element.":[47],"Thus,":[48],"paper":[50],"introduces":[51],"a":[52,92,97,190],"novel":[53],"path":[55,153,185],"algorithm":[57,186,205],"founded":[58],"on":[59],"principles":[61],"spatial":[63,75,105],"perception.":[64],"In":[65],"diverse":[67],"array":[68],"road":[70,114],"environments":[71],"characterized":[72],"by":[73],"varying":[74],"features,":[76],"can":[79,206],"effectively":[80],"achieve":[81],"safe":[82],"and":[83,96,112,122,141,195,220],"comfortable":[84],"maneuvers.":[87,238],"proposed":[89,181],"approach":[90],"employs":[91],"high-precision":[93],"positioning":[94],"module":[95,101],"acquire":[103],"information":[106],"pertaining":[107],"vehicle":[111,197],"environment.":[115],"It":[116],"comprehensively":[117],"integrates":[118],"spatiotemporal":[119,152],"safety":[120],"constraints":[121,126],"curvature":[125],"derive":[128],"control":[129,137],"points":[130,138],"path.":[135],"Specific":[136],"undergo":[139],"optimization":[140],"adjustment,":[142],"ultimately":[143],"resulting":[144,214],"generation":[147],"through":[154,189],"discrete":[155],"interpolation":[156],"using":[157,173],"B-spline":[158],"curves.":[159,175],"These":[160],"locally":[161],"tailored":[162],"are":[164],"subsequently":[165],"compared":[166],"with":[167],"generated":[172],"Bezier":[174],"empirical":[177],"validation":[178],"conducted":[188],"combination":[191],"simulation":[193],"analysis":[194],"real":[196],"verification.":[198],"research":[200],"outcomes":[201],"affirm":[202],"that":[203],"indeed":[207],"produce":[208],"smoother":[209],"paths,":[213],"reduced":[216],"front-wheel":[217],"steering":[218],"angles":[219],"yaw":[221],"angle":[222],"variations.":[223],"This":[224],"enhancement":[225],"substantially":[226],"contributes":[227],"overall":[230],"stability":[231]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2023-10-13T00:00:00"}
