{"id":"https://openalex.org/W2581869884","doi":"https://doi.org/10.1108/ir-04-2016-0127","title":"Autonomous obstacle avoidance of an unmanned surface vehicle based on cooperative manoeuvring","display_name":"Autonomous obstacle avoidance of an unmanned surface vehicle based on cooperative manoeuvring","publication_year":2017,"publication_date":"2017-01-16","ids":{"openalex":"https://openalex.org/W2581869884","doi":"https://doi.org/10.1108/ir-04-2016-0127","mag":"2581869884"},"language":"en","primary_location":{"id":"doi:10.1108/ir-04-2016-0127","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2016-0127","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5030772308","display_name":"Peng Wu","orcid":"https://orcid.org/0000-0002-0584-8161"},"institutions":[{"id":"https://openalex.org/I77631543","display_name":"Wuxi Institute of Technology","ror":"https://ror.org/00ab95029","country_code":"CN","type":"education","lineage":["https://openalex.org/I77631543"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peng Wu","raw_affiliation_strings":["Mechanical Institute of Technology, Wuxi Institute of Technology, Wuxi, China and School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Institute of Technology, Wuxi Institute of Technology, Wuxi, China and School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China","institution_ids":["https://openalex.org/I77631543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086702173","display_name":"Shaorong Xie","orcid":"https://orcid.org/0000-0002-8016-9310"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaorong Xie","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084185160","display_name":"Hengli Liu","orcid":"https://orcid.org/0000-0002-7787-0384"},"institutions":[{"id":"https://openalex.org/I77631543","display_name":"Wuxi Institute of Technology","ror":"https://ror.org/00ab95029","country_code":"CN","type":"education","lineage":["https://openalex.org/I77631543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hengli Liu","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China and Mechanical Institute of Technology, Wuxi Institute of Technology, Wuxi, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China and Mechanical Institute of Technology, Wuxi Institute of Technology, Wuxi, China","institution_ids":["https://openalex.org/I77631543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100698247","display_name":"Ming Li","orcid":"https://orcid.org/0000-0001-5106-1194"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Li","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100780078","display_name":"Hengyu Li","orcid":"https://orcid.org/0000-0002-2243-5908"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hengyu Li","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772740","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-1312-9527"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Peng","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014108121","display_name":"Xiaomao Li","orcid":"https://orcid.org/0000-0001-6374-1488"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaomao Li","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003071055","display_name":"Jun Luo","orcid":"https://orcid.org/0000-0003-4475-2338"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Luo","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, University of Shanghai, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5030772308"],"corresponding_institution_ids":["https://openalex.org/I77631543"],"apc_list":null,"apc_paid":null,"fwci":1.6636,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.90489667,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"44","issue":"1","first_page":"64","last_page":"74"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8837694525718689},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7839385271072388},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.729964554309845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.621778666973114},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.5804444551467896},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.48219719529151917},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.46859899163246155},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4530794024467468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39976704120635986},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37771642208099365},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23905450105667114},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21045461297035217},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.17093586921691895},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.0726434588432312},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06298840045928955}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8837694525718689},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7839385271072388},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.729964554309845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.621778666973114},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.5804444551467896},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.48219719529151917},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.46859899163246155},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4530794024467468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39976704120635986},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37771642208099365},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23905450105667114},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21045461297035217},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.17093586921691895},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.0726434588432312},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06298840045928955},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-04-2016-0127","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2016-0127","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W137575789","https://openalex.org/W1885511404","https://openalex.org/W1950701156","https://openalex.org/W1970945972","https://openalex.org/W1971914109","https://openalex.org/W1977695655","https://openalex.org/W1994691148","https://openalex.org/W2012662038","https://openalex.org/W2014616611","https://openalex.org/W2018869989","https://openalex.org/W2019340747","https://openalex.org/W2026535857","https://openalex.org/W2029358030","https://openalex.org/W2052686295","https://openalex.org/W2055936046","https://openalex.org/W2073487751","https://openalex.org/W2076543109","https://openalex.org/W2084645242","https://openalex.org/W2086145328","https://openalex.org/W2094282921","https://openalex.org/W2095235577","https://openalex.org/W2098164683","https://openalex.org/W2103120971","https://openalex.org/W2105859842","https://openalex.org/W2107941094","https://openalex.org/W2121702269","https://openalex.org/W2125668523","https://openalex.org/W2130410991","https://openalex.org/W2139273714","https://openalex.org/W2139368403","https://openalex.org/W2164561121","https://openalex.org/W2166695482","https://openalex.org/W2171331791","https://openalex.org/W2242666349","https://openalex.org/W2506804851"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W3043170174","https://openalex.org/W2782776446","https://openalex.org/W2155948905"],"abstract_inverted_index":{"Purpose":[0],"Autonomous":[1],"obstacle":[2,16,59,76,180,203,239],"avoidance":[3,60,181],"is":[4,18,86,115],"important":[5],"in":[6,45,53,83,134,168,182,204,227],"unmanned":[7],"surface":[8],"vehicle":[9],"(USV)":[10],"navigation.":[11],"Although":[12],"the":[13,23,39,87,103,108,135,149,157,161,169,189,194,198,205,210],"result":[14],"of":[15,22,26,41,110,137,232,238],"detection":[17],"often":[19],"inaccurate":[20],"because":[21],"inherent":[24],"errors":[25,139,237],"LIDAR,":[27],"conventional":[28],"methods":[29,50],"typically":[30],"emphasize":[31],"on":[32,102,121,209],"a":[33,46,67,98,116,122,147,152,177,183],"single":[34,123],"obstacle-avoidance":[35,94,118,154],"algorithm":[36,81,114,233],"and":[37,43,57,74,140,220,242],"neglect":[38],"limitation":[40],"sensors":[42],"safety":[44],"local":[47,56,73,113,206],"region.":[48],"Conventional":[49],"also":[51,245],"fail":[52],"seamlessly":[54],"integrating":[55],"global":[58,75,80,162,190],"algorithms.":[61],"This":[62,214],"paper":[63,229],"aims":[64],"to":[65,125,130,165],"present":[66,126],"cooperative":[68],"manoeuvring":[69],"approach":[70],"including":[71],"both":[72],"avoidance.":[77],"Design/methodology/approach":[78],"The":[79,112,173,186,224],"used":[82],"our":[84],"USV":[85,131,150,158,187,199],"Artificial":[88],"Potential":[89],"Field-Ant":[90],"Colony":[91],"Optimization":[92],"(APF-ACO)":[93],"algorithm,":[95],"which":[96],"plans":[97],"relative":[99],"optimal":[100],"path":[101,132],"specified":[104],"electronic":[105],"map":[106],"before":[107],"cruise":[109],"USV.":[111],"multi-layer":[117,211],"framework":[119],"based":[120,208],"LIDAR":[124],"an":[127],"efficient":[128],"solution":[129,178],"planning":[133],"case":[136],"sensor":[138],"collision":[141],"risks.":[142],"When":[143],"obstacles":[144],"are":[145],"within":[146],"layer,":[148],"uses":[151],"corresponding":[153],"algorithm.":[155,196],"Then":[156],"moves":[159],"towards":[160],"direction":[163],"according":[164],"fuzzy":[166,170],"rules":[167],"layer.":[171],"Findings":[172],"presented":[174,226],"method":[175,212,225],"offers":[176],"for":[179,247],"complex":[184],"environment.":[185],"follows":[188],"trajectory":[191],"planed":[192],"by":[193,218],"APF-ACO":[195],"While,":[197],"can":[200],"bypass":[201],"current":[202],"region":[207],"effectively.":[213],"fact":[215],"was":[216],"validated":[217],"simulations":[219],"field":[221],"trials.":[222],"Originality/value":[223],"this":[228],"takes":[230],"advantage":[231],"integration":[234],"that":[235],"remedies":[236],"detection.":[240],"Simulation":[241],"experiments":[243],"were":[244],"conducted":[246],"performance":[248],"evaluation.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}