{"id":"https://openalex.org/W2811219939","doi":"https://doi.org/10.1109/access.2018.2817648","title":"Path Planning of UAVs Based on Collision Probability and Kalman Filter","display_name":"Path Planning of UAVs Based on Collision Probability and Kalman Filter","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2811219939","doi":"https://doi.org/10.1109/access.2018.2817648","mag":"2811219939"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2817648","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2817648","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2817648","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100773429","display_name":"Zhenyu Wu","orcid":"https://orcid.org/0000-0002-8572-8652"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Wu","raw_affiliation_strings":["School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102966315","display_name":"Jinhuan Li","orcid":"https://orcid.org/0000-0001-7143-0524"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhuan Li","raw_affiliation_strings":["School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-7143-0524","affiliations":[{"raw_affiliation_string":"School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109596220","display_name":"Jiaming Zuo","orcid":null},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Zuo","raw_affiliation_strings":["School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086172734","display_name":"Shengming Li","orcid":"https://orcid.org/0009-0009-6834-1083"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengming Li","raw_affiliation_strings":["School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.6415,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.95002672,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"34237","last_page":"34245"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11133","display_name":"UAV Applications and Optimization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12158","display_name":"Guidance and Control Systems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.7366815209388733},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6815823316574097},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6183209419250488},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.597362220287323},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5375819206237793},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5348044633865356},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4875611662864685},{"id":"https://openalex.org/keywords/flight-plan","display_name":"Flight plan","score":0.4797719419002533},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.47029420733451843},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.44756993651390076},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.41167759895324707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25724393129348755},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1886187493801117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1406036913394928},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11225318908691406}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7366815209388733},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6815823316574097},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6183209419250488},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.597362220287323},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5375819206237793},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5348044633865356},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4875611662864685},{"id":"https://openalex.org/C2780211030","wikidata":"https://www.wikidata.org/wiki/Q545034","display_name":"Flight plan","level":2,"score":0.4797719419002533},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.47029420733451843},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.44756993651390076},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.41167759895324707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25724393129348755},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1886187493801117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1406036913394928},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11225318908691406},{"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},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2817648","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2817648","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:32c6c8c351d04a29b04b676f1d708ba1","is_oa":true,"landing_page_url":"https://doaj.org/article/32c6c8c351d04a29b04b676f1d708ba1","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,"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":"IEEE Access, Vol 6, Pp 34237-34245 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2817648","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2817648","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W602807700","https://openalex.org/W1624209848","https://openalex.org/W2041147344","https://openalex.org/W2069252564","https://openalex.org/W2100014144","https://openalex.org/W2145887750","https://openalex.org/W2158058424","https://openalex.org/W2165793918","https://openalex.org/W2189198227","https://openalex.org/W2328324636","https://openalex.org/W2464685845","https://openalex.org/W2517701029","https://openalex.org/W2553037444","https://openalex.org/W2600252278","https://openalex.org/W6719392034","https://openalex.org/W6726722287","https://openalex.org/W6735269499"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W4381746183","https://openalex.org/W1984358686"],"abstract_inverted_index":{"For":[0],"clusters":[1,181],"of":[2,8,22,82,95,102,108,118,138,145,182,199],"UAVs,":[3],"the":[4,9,16,19,60,66,70,80,92,100,106,134,142,161,180,191,195,200],"scale":[5],"and":[6,31,62,73,105,116,172,197],"density":[7,21],"cluster":[10,111,120,169],"determine":[11],"its":[12],"ability":[13],"to":[14,49,63,124,132,178],"solve":[15,79],"task.":[17],"With":[18],"increasing":[20],"aerial":[23],"vehicles,":[24],"effectively":[25],"planning":[26],"a":[27,88,150,153],"reasonable":[28],"flight":[29,35,67,112,207],"path":[30,83,126],"avoiding":[32],"conflicts":[33,52,84,127],"among":[34],"paths":[36,187],"have":[37],"become":[38],"key":[39],"problems":[40],"for":[41,85,90],"UAV":[42,86,119,147,205],"clusters.":[43,129],"The":[44],"traditional":[45],"control":[46],"method":[47,89,156,202],"is":[48,97,157],"detect":[50],"potential":[51],"through":[53,75],"radar":[54],"monitoring":[55],"or":[56],"location":[57],"reporting":[58],"in":[59,128,203],"air":[61],"then":[64],"change":[65],"path,":[68],"including":[69],"height,":[71],"heading,":[72],"speed,":[74],"manual":[76],"instruction.":[77],"To":[78,164],"problem":[81,136],"clusters,":[87],"calculating":[91],"collision":[93,173],"probabilities":[94],"UAVs":[96,184],"established":[98],"under":[99,149],"constraints":[101],"mission":[103],"space":[104],"number":[107],"UAVs.":[109],"In":[110,130],"mode,":[113],"automatic":[114],"tracking":[115],"prediction":[117,171],"tracks":[121],"are":[122,175],"implemented":[123],"avoid":[125,179],"addition,":[131],"address":[133],"inconsistency":[135],"because":[137],"noise":[139],"caused":[140],"by":[141],"state":[143,154,170],"information":[144],"multi":[146,204],"communication":[148],"dynamic":[151],"environment,":[152],"estimation":[155],"proposed":[158,201],"based":[159],"on":[160,186],"Kalman":[162],"algorithm.":[163],"achieve":[165],"aircraft":[166],"track":[167],"planning,":[168],"probability":[174],"eventually":[176],"calculated":[177],"formation":[183,206],"conflicting":[185],"during":[188],"flight.":[189],"Finally,":[190],"simulation":[192],"results":[193],"verify":[194],"validity":[196],"effectiveness":[198],"planning.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}