{"id":"https://openalex.org/W4383561724","doi":"https://doi.org/10.1017/s0263574723000577","title":"State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics","display_name":"State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics","publication_year":2023,"publication_date":"2023-05-04","ids":{"openalex":"https://openalex.org/W4383561724","doi":"https://doi.org/10.1017/s0263574723000577"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723000577","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000577","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5010662576","display_name":"Miaolei He","orcid":"https://orcid.org/0000-0003-4743-2663"},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miaolei He","raw_affiliation_strings":["College of Engineering and Design, Hunan Normal University, Changsha 410081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Design, Hunan Normal University, Changsha 410081, China","institution_ids":["https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114928875","display_name":"Xiangdi Yue","orcid":"https://orcid.org/0000-0001-9453-7981"},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangdi Yue","raw_affiliation_strings":["College of Engineering and Design, Hunan Normal University, Changsha 410081, China"],"raw_orcid":"https://orcid.org/0000-0001-9453-7981","affiliations":[{"raw_affiliation_string":"College of Engineering and Design, Hunan Normal University, Changsha 410081, China","institution_ids":["https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114120427","display_name":"Yuling Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuling Zheng","raw_affiliation_strings":["College of Engineering and Design, Hunan Normal University, Changsha 410081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Design, Hunan Normal University, Changsha 410081, China","institution_ids":["https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062208207","display_name":"Junxin Chen","orcid":"https://orcid.org/0000-0003-4745-8361"},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junxin Chen","raw_affiliation_strings":["College of Engineering and Design, Hunan Normal University, Changsha 410081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Design, Hunan Normal University, Changsha 410081, China","institution_ids":["https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102220090","display_name":"Shuangqing Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangqing Wu","raw_affiliation_strings":["College of Engineering and Design, Hunan Normal University, Changsha 410081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Design, Hunan Normal University, Changsha 410081, China","institution_ids":["https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102235909","display_name":"Heng Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeng Heng","raw_affiliation_strings":["College of Engineering and Design, Hunan Normal University, Changsha 410081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Design, Hunan Normal University, Changsha 410081, China","institution_ids":["https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067999580","display_name":"Xuanyi Zhou","orcid":"https://orcid.org/0000-0001-9584-9426"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanyi Zhou","raw_affiliation_strings":["Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education, Zhejiang University of Technology, Hangzhou 310000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education, Zhejiang University of Technology, Hangzhou 310000, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021213952","display_name":"Yaoyi Cai","orcid":"https://orcid.org/0000-0001-9252-2858"},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yaoyi Cai","raw_affiliation_strings":["College of Engineering and Design, Hunan Normal University, Changsha 410081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Design, Hunan Normal University, Changsha 410081, China","institution_ids":["https://openalex.org/I173759888"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5021213952"],"corresponding_institution_ids":["https://openalex.org/I173759888"],"apc_list":null,"apc_paid":null,"fwci":1.9351,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.88289427,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"41","issue":"9","first_page":"2625","last_page":"2647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"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":0.995199978351593,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.958899974822998,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.9239466786384583},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8477284908294678},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6554747223854065},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5875144600868225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.51887446641922},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.48140621185302734},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4659351706504822},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.4633078873157501},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45033836364746094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44019946455955505},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4258446991443634},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.393871009349823},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34727421402931213},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33371779322624207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31476593017578125},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16887980699539185},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1514425277709961}],"concepts":[{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.9239466786384583},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8477284908294678},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6554747223854065},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5875144600868225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.51887446641922},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.48140621185302734},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4659351706504822},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.4633078873157501},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45033836364746094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44019946455955505},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4258446991443634},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.393871009349823},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34727421402931213},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33371779322624207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31476593017578125},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16887980699539185},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1514425277709961},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723000577","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000577","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":124,"referenced_works":["https://openalex.org/W1987175021","https://openalex.org/W2029569297","https://openalex.org/W2034307718","https://openalex.org/W2034793380","https://openalex.org/W2040728466","https://openalex.org/W2041644456","https://openalex.org/W2052391272","https://openalex.org/W2054818893","https://openalex.org/W2078063607","https://openalex.org/W2078318573","https://openalex.org/W2092027115","https://openalex.org/W2098515674","https://openalex.org/W2118005149","https://openalex.org/W2161968185","https://openalex.org/W2165903532","https://openalex.org/W2169783146","https://openalex.org/W2191649932","https://openalex.org/W2199318894","https://openalex.org/W2217697739","https://openalex.org/W2314575128","https://openalex.org/W2317222681","https://openalex.org/W2324577468","https://openalex.org/W2343298214","https://openalex.org/W2377675156","https://openalex.org/W2547674756","https://openalex.org/W2593412525","https://openalex.org/W2605286413","https://openalex.org/W2755163439","https://openalex.org/W2793113826","https://openalex.org/W2808864942","https://openalex.org/W2883488766","https://openalex.org/W2886980450","https://openalex.org/W2899844036","https://openalex.org/W2907573215","https://openalex.org/W2911496398","https://openalex.org/W2913792742","https://openalex.org/W2952867577","https://openalex.org/W2958693754","https://openalex.org/W2965880563","https://openalex.org/W2967863637","https://openalex.org/W2968031102","https://openalex.org/W2968213087","https://openalex.org/W2971099763","https://openalex.org/W2979384688","https://openalex.org/W2990714382","https://openalex.org/W2996714670","https://openalex.org/W2998304595","https://openalex.org/W3002467273","https://openalex.org/W3003397085","https://openalex.org/W3003980475","https://openalex.org/W3008806548","https://openalex.org/W3011896035","https://openalex.org/W3012010640","https://openalex.org/W3012097906","https://openalex.org/W3019189029","https://openalex.org/W3023173947","https://openalex.org/W3023846712","https://openalex.org/W3037508967","https://openalex.org/W3094095502","https://openalex.org/W3094117044","https://openalex.org/W3094707021","https://openalex.org/W3103345480","https://openalex.org/W3104695585","https://openalex.org/W3109827567","https://openalex.org/W3113616534","https://openalex.org/W3125834474","https://openalex.org/W3129694752","https://openalex.org/W3130410773","https://openalex.org/W3131467631","https://openalex.org/W3132504800","https://openalex.org/W3140311984","https://openalex.org/W3143373178","https://openalex.org/W3150302068","https://openalex.org/W3152198723","https://openalex.org/W3156261936","https://openalex.org/W3157458791","https://openalex.org/W3157610864","https://openalex.org/W3161664723","https://openalex.org/W3171346368","https://openalex.org/W3173279912","https://openalex.org/W3183997508","https://openalex.org/W3196165563","https://openalex.org/W3199787920","https://openalex.org/W3200854823","https://openalex.org/W3204858285","https://openalex.org/W3205946643","https://openalex.org/W4200567921","https://openalex.org/W4200589535","https://openalex.org/W4205204878","https://openalex.org/W4205565200","https://openalex.org/W4205991603","https://openalex.org/W4210327135","https://openalex.org/W4211056630","https://openalex.org/W4213202416","https://openalex.org/W4224238434","https://openalex.org/W4224299224","https://openalex.org/W4226404176","https://openalex.org/W4226537894","https://openalex.org/W4245813244","https://openalex.org/W4250058668","https://openalex.org/W4280653120","https://openalex.org/W4283775706","https://openalex.org/W4285102304","https://openalex.org/W4285218377","https://openalex.org/W4285298472","https://openalex.org/W4285400425","https://openalex.org/W4285400492","https://openalex.org/W4285502049","https://openalex.org/W4285726055","https://openalex.org/W4285820532","https://openalex.org/W4288061729","https://openalex.org/W4292088557","https://openalex.org/W4292862874","https://openalex.org/W4293079063","https://openalex.org/W4294685433","https://openalex.org/W4309923758","https://openalex.org/W4313047238","https://openalex.org/W4377141207","https://openalex.org/W6701368183","https://openalex.org/W6773102834","https://openalex.org/W6789451082","https://openalex.org/W6796435434","https://openalex.org/W6801101883","https://openalex.org/W6840844297"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2357323510","https://openalex.org/W4366961261"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"article":[2],"presents":[3],"a":[4,25,50,101],"review":[5,113],"of":[6,12,27,31,114],"the":[7,28,64,71,78,97,115],"platform":[8,54,73,88,117],"configuration":[9],"and":[10,34,40,59,68,81,108],"dynamic":[11],"obstacle-surmounting":[13],"unmanned":[14,20,45],"ground":[15],"vehicles":[16],"(UGVs).":[17],"For":[18,63],"now,":[19],"systems":[21,46],"have":[22],"emerged":[23],"as":[24],"result":[26],"rapid":[29],"advancement":[30],"artificial":[32],"intelligence":[33],"modern":[35],"manufacturing":[36],"techniques":[37],"both":[38],"domestically":[39],"internationally.":[41],"The":[42,52,86],"research":[43],"on":[44],"has":[47,74],"been":[48,75],"improved":[49],"lot.":[51],"UGV":[53,72,87,116],"can":[55],"execute":[56],"transportation,":[57],"recurring,":[58],"military":[60],"tasks":[61,91],"independently.":[62],"high-level":[65],"self-control,":[66],"adaption,":[67],"maneuverability":[69],"abilities,":[70],"applied":[76],"in":[77,92,121],"military,":[79],"industry,":[80],"other":[82],"special":[83],"fields":[84],"widely.":[85],"usually":[89],"performs":[90],"an":[93],"unstructured":[94],"environment,":[95],"so":[96],"all-terrain":[98],"performance":[99],"becomes":[100],"key":[102],"factor":[103],"restricting":[104],"their":[105],"operating":[106],"efficiency":[107],"reliability.":[109],"A":[110],"brief":[111],"literature":[112],"is":[118],"carried":[119],"out":[120],"this":[122],"article.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}