{"id":"https://openalex.org/W7225789914","doi":"https://doi.org/10.1088/2631-8695/aec0ff","title":"UAV Path Planning for Outdoor High-Voltage Transmission Line Inspection Based on Point Cloud Data","display_name":"UAV Path Planning for Outdoor High-Voltage Transmission Line Inspection Based on Point Cloud Data","publication_year":2026,"publication_date":"2026-11-11","ids":{"openalex":"https://openalex.org/W7225789914","doi":"https://doi.org/10.1088/2631-8695/aec0ff"},"language":"en","primary_location":{"id":"doi:10.1088/2631-8695/aec0ff","doi":"https://doi.org/10.1088/2631-8695/aec0ff","is_oa":false,"landing_page_url":"https://doi.org/10.1088/2631-8695/aec0ff","pdf_url":null,"source":{"id":"https://openalex.org/S4210221144","display_name":"Engineering Research Express","issn_l":"2631-8695","issn":["2631-8695"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-20","russia-white-list-3"],"host_organization":"https://openalex.org/P4310320083","host_organization_name":"IOP Publishing","host_organization_lineage":["https://openalex.org/P4310320083","https://openalex.org/P4310311669"],"host_organization_lineage_names":["IOP Publishing","Institute of Physics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Engineering Research Express","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"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/A5161472315","display_name":"Xin Fang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I181903023","display_name":"Xi'an Shiyou University","ror":"https://ror.org/040c7js64","country_code":"CN","type":"education","lineage":["https://openalex.org/I181903023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Fang","raw_affiliation_strings":["Xi'an Petroleum University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi'an Petroleum University","institution_ids":["https://openalex.org/I181903023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137851370","display_name":"Lei Zhu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I181903023","display_name":"Xi'an Shiyou University","ror":"https://ror.org/040c7js64","country_code":"CN","type":"education","lineage":["https://openalex.org/I181903023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhu","raw_affiliation_strings":["Xi'an Petroleum University"],"raw_orcid":"https://orcid.org/0009-0001-4857-7955","affiliations":[{"raw_affiliation_string":"Xi'an Petroleum University","institution_ids":["https://openalex.org/I181903023"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021141127","display_name":"Fangxing Lyu","orcid":"https://orcid.org/0000-0003-3100-2757","observed_orcids":["https://orcid.org/0000-0003-3100-2757","https://orcid.org/0009-0005-2828-5540"]},"institutions":[{"id":"https://openalex.org/I181903023","display_name":"Xi'an Shiyou University","ror":"https://ror.org/040c7js64","country_code":"CN","type":"education","lineage":["https://openalex.org/I181903023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangxing Lyu","raw_affiliation_strings":["Xi'an Petroleum University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi'an Petroleum University","institution_ids":["https://openalex.org/I181903023"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I181903023"],"apc_list":{"value":2400,"currency":"USD","value_usd":2400},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.6371999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13715","display_name":"Power Line Inspection Robots","score":0.6371999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3578999936580658,"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.002199999988079071,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7394999861717224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5999000072479248},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5929999947547913},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5684999823570251},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5268999934196472},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4952000081539154},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4925999939441681},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4050000011920929},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.3901999890804291},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.38929998874664307},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.38609999418258667},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.3727000057697296},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3517000079154968},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3206999897956848},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.3125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3095000088214874},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.3095000088214874},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.2994000017642975},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2824000120162964},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26339998841285706},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1088/2631-8695/aec0ff","doi":"https://doi.org/10.1088/2631-8695/aec0ff","is_oa":false,"landing_page_url":"https://doi.org/10.1088/2631-8695/aec0ff","pdf_url":null,"source":{"id":"https://openalex.org/S4210221144","display_name":"Engineering Research Express","issn_l":"2631-8695","issn":["2631-8695"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-20","russia-white-list-3"],"host_organization":"https://openalex.org/P4310320083","host_organization_name":"IOP Publishing","host_organization_lineage":["https://openalex.org/P4310320083","https://openalex.org/P4310311669"],"host_organization_lineage_names":["IOP Publishing","Institute of Physics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Engineering Research Express","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"To":[1],"address":[2],"the":[3,21,89,106,109],"challenges":[4],"of":[5,23,108],"dense":[6],"obstacles":[7],"and":[8,27,79,93,132,141,145,157],"complex":[9,96],"spatial":[10],"structures":[11],"in":[12,30,118],"high-voltage":[13,120],"transmission":[14,121],"line":[15,122],"inspection":[16,143],"environments,":[17],"as":[18,20],"well":[19],"difficulty":[22],"balancing":[24],"search":[25],"efficiency":[26],"path":[28,32,48,113,155],"quality":[29,107],"traditional":[31],"planning":[33,114,151],"algorithms,":[34],"this":[35],"paper":[36],"proposes":[37],"a":[38,51,68,80,147],"Multi-source":[39],"Adaptive":[40],"Tornado":[41],"Optimization":[42],"algorithm":[43],"(MA-TOC)":[44],"for":[45],"UAV":[46],"3D":[47,52],"planning.":[49],"First,":[50],"environment":[53],"model":[54],"satisfying":[55],"flight":[56],"safety":[57],"constraints":[58,101],"is":[59],"constructed":[60],"based":[61],"on":[62],"LiDAR":[63],"point":[64,123],"cloud":[65,124],"data.":[66],"Second,":[67],"triple-layer":[69],"heterogeneous":[70],"cyclone":[71],"sampling":[72],"mechanism,":[73],"an":[74],"adaptive":[75],"step-size":[76],"adjustment":[77],"strategy,":[78],"local":[81],"stagnation":[82],"escape":[83],"mechanism":[84],"are":[85,102,116],"introduced":[86],"to":[87,95,104],"enhance":[88],"global":[90],"exploration":[91],"capability":[92],"adaptability":[94],"environments.":[97],"Furthermore,":[98],"directional":[99],"continuity":[100],"incorporated":[103],"optimize":[105],"generated":[110],"paths.":[111],"Finally,":[112],"experiments":[115,127],"conducted":[117],"real":[119],"scenarios.":[125],"Comparative":[126],"against":[128],"APF,":[129],"RRT,":[130],"RRT*,":[131],"A*":[133],"demonstrate":[134],"that":[135],"MA-TOC":[136],"can":[137],"rapidly":[138],"generate":[139],"safe":[140],"smooth":[142],"trajectories":[144],"achieves":[146],"favorable":[148],"balance":[149],"among":[150],"reliability,":[152],"computational":[153],"efficiency,":[154],"smoothness,":[156],"obstacle":[158],"avoidance":[159],"performance.":[160]},"counts_by_year":[],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2026-11-12T00:00:00"}