{"id":"https://openalex.org/W2808273636","doi":"https://doi.org/10.1109/access.2018.2846769","title":"A New Method for the Optimal Control Problem of Path Planning for Unmanned Ground Systems","display_name":"A New Method for the Optimal Control Problem of Path Planning for Unmanned Ground Systems","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2808273636","doi":"https://doi.org/10.1109/access.2018.2846769","mag":"2808273636"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2846769","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2846769","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.2018.2846769","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100454158","display_name":"Jie Liu","orcid":"https://orcid.org/0000-0002-9418-2073"},"institutions":[{"id":"https://openalex.org/I4210162215","display_name":"Naval Aeronautical and Astronautical University","ror":"https://ror.org/02j2yhq26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162215"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Liu","raw_affiliation_strings":["Naval Aeronautical and Astronautical University, Yantai, China","ORCiD"],"affiliations":[{"raw_affiliation_string":"Naval Aeronautical and Astronautical University, Yantai, China","institution_ids":["https://openalex.org/I4210162215"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119032692","display_name":"Wei Han","orcid":"https://orcid.org/0000-0002-4841-5905"},"institutions":[{"id":"https://openalex.org/I4210162215","display_name":"Naval Aeronautical and Astronautical University","ror":"https://ror.org/02j2yhq26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162215"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Han","raw_affiliation_strings":["Naval Aeronautical and Astronautical University, Yantai, China"],"affiliations":[{"raw_affiliation_string":"Naval Aeronautical and Astronautical University, Yantai, China","institution_ids":["https://openalex.org/I4210162215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003709575","display_name":"Chun Liu","orcid":"https://orcid.org/0000-0001-9319-1640"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chun Liu","raw_affiliation_strings":["650 Aircraft Design Institute of AVIC Hongdu, Nanchang, China"],"affiliations":[{"raw_affiliation_string":"650 Aircraft Design Institute of AVIC Hongdu, Nanchang, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022022325","display_name":"Haijun Peng","orcid":"https://orcid.org/0000-0001-9365-3569"},"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":"Haijun Peng","raw_affiliation_strings":["Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100454158"],"corresponding_institution_ids":["https://openalex.org/I4210162215"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.149,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.83497096,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"33251","last_page":"33260"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962999820709229,"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/T12158","display_name":"Guidance and Control Systems","score":0.9750000238418579,"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/pseudospectral-optimal-control","display_name":"Pseudospectral optimal control","score":0.8862178325653076},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6974123120307922},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.6444891095161438},{"id":"https://openalex.org/keywords/gauss-pseudospectral-method","display_name":"Gauss pseudospectral method","score":0.6299282312393188},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6187034845352173},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5751127004623413},{"id":"https://openalex.org/keywords/pseudo-spectral-method","display_name":"Pseudo-spectral method","score":0.5581706166267395},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5465124249458313},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4776298403739929},{"id":"https://openalex.org/keywords/chebyshev-pseudospectral-method","display_name":"Chebyshev pseudospectral method","score":0.4666673541069031},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4528362452983856},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.421772301197052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34659767150878906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3266560435295105},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31029385328292847},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08283621072769165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07305312156677246}],"concepts":[{"id":"https://openalex.org/C154304650","wikidata":"https://www.wikidata.org/wiki/Q7255577","display_name":"Pseudospectral optimal control","level":5,"score":0.8862178325653076},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6974123120307922},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.6444891095161438},{"id":"https://openalex.org/C71026131","wikidata":"https://www.wikidata.org/wiki/Q5527825","display_name":"Gauss pseudospectral method","level":5,"score":0.6299282312393188},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6187034845352173},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5751127004623413},{"id":"https://openalex.org/C177937620","wikidata":"https://www.wikidata.org/wiki/Q7254447","display_name":"Pseudo-spectral method","level":4,"score":0.5581706166267395},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5465124249458313},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4776298403739929},{"id":"https://openalex.org/C122107654","wikidata":"https://www.wikidata.org/wiki/Q5089017","display_name":"Chebyshev pseudospectral method","level":5,"score":0.4666673541069031},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4528362452983856},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.421772301197052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34659767150878906},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3266560435295105},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31029385328292847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08283621072769165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07305312156677246},{"id":"https://openalex.org/C10628310","wikidata":"https://www.wikidata.org/wiki/Q619458","display_name":"Orthogonal polynomials","level":2,"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/C203024314","wikidata":"https://www.wikidata.org/wiki/Q1365258","display_name":"Fourier analysis","level":3,"score":0.0},{"id":"https://openalex.org/C21736991","wikidata":"https://www.wikidata.org/wiki/Q17006917","display_name":"Classical orthogonal polynomials","level":3,"score":0.0},{"id":"https://openalex.org/C142484921","wikidata":"https://www.wikidata.org/wiki/Q3890369","display_name":"Chebyshev equation","level":4,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C102519508","wikidata":"https://www.wikidata.org/wiki/Q6520159","display_name":"Fourier transform","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2846769","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2846769","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:e1a5540865214b68b021aa314052ff41","is_oa":true,"landing_page_url":"https://doaj.org/article/e1a5540865214b68b021aa314052ff41","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 33251-33260 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2846769","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2846769","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":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W8729843","https://openalex.org/W309517395","https://openalex.org/W1966185282","https://openalex.org/W1992717208","https://openalex.org/W2003342876","https://openalex.org/W2009972395","https://openalex.org/W2016399292","https://openalex.org/W2029874783","https://openalex.org/W2049772050","https://openalex.org/W2057992451","https://openalex.org/W2067213582","https://openalex.org/W2096100735","https://openalex.org/W2101170342","https://openalex.org/W2103985497","https://openalex.org/W2108400488","https://openalex.org/W2118180571","https://openalex.org/W2134298283","https://openalex.org/W2139322073","https://openalex.org/W2159583056","https://openalex.org/W2288358496","https://openalex.org/W2329739548","https://openalex.org/W2441384902","https://openalex.org/W2462672631","https://openalex.org/W2503969857","https://openalex.org/W2513178932","https://openalex.org/W2536291649","https://openalex.org/W2547673434","https://openalex.org/W2563436131","https://openalex.org/W2581781286","https://openalex.org/W2583248424","https://openalex.org/W2587596550","https://openalex.org/W2596553520","https://openalex.org/W2607363111","https://openalex.org/W2744091781","https://openalex.org/W2767846463","https://openalex.org/W3102244603"],"related_works":["https://openalex.org/W2550657075","https://openalex.org/W2281601070","https://openalex.org/W2761671048","https://openalex.org/W2143234151","https://openalex.org/W2354694671","https://openalex.org/W2029764875","https://openalex.org/W2027623489","https://openalex.org/W2503830135","https://openalex.org/W2360369146","https://openalex.org/W2192624384"],"abstract_inverted_index":{"To":[0],"model":[1,26,146],"the":[2,14,24,32,39,44,50,55,59,64,72,83,90,101,104,107,111,129,135,145,152,157,161,167,170,173,179,182,185,194],"optimal":[3,65,195],"control":[4,66,196],"problem":[5,51,67,197],"of":[6,68,87,92,106,116,172,198],"path":[7,69,74,199],"planning":[8,70,75,200],"for":[9,99,201,210],"unmanned":[10],"ground":[11],"systems":[12],"(UGSs),":[13],"motion":[15],"and":[16,31,103,119,134,160,169,189,203,208],"boundary":[17],"constraints":[18],"are":[19,36,154],"described":[20,37],"first":[21,123],"by":[22,38],"using":[23,156],"mathematical":[25],"proposed":[27,124],"in":[28,125,148],"this":[29,126,149],"paper,":[30],"time-energy":[33],"performance":[34],"indicators":[35],"Bolza":[40],"cost":[41],"function.":[42],"Since":[43],"traditional":[45],"symplectic":[46,96,112,137],"algorithm":[47,140],"hardly":[48],"solves":[49],"with":[52,184],"uncertain":[53],"time,":[54],"pseudospectral":[56,97,120,138,162],"method,":[57,163],"almost":[58],"only":[60],"way":[61],"to":[62,78,82,143,165,192],"solve":[63,144,193],"while":[71],"rapid":[73],"is":[76,80,122,132,141,181],"difficult":[77],"achieve,":[79],"prone":[81],"phenomenon":[84],"named":[85],"\u201cCurse":[86],"Dimensionality\u201dwith":[88],"increasing":[89],"number":[91],"discrete":[93],"points.":[94],"The":[95,175],"method":[98,121,159,183],"improving":[100],"efficiency":[102,171],"precision":[105],"calculation,":[108],"based":[109],"on":[110],"theory,":[113],"third":[114],"kind":[115],"generation":[117],"function":[118],"paper.":[127,150],"Furthermore,":[128],"one-sided":[130,136],"approximation":[131],"designed,":[133],"(OSSP)":[139],"established":[142],"introduced":[147],"Finally,":[151],"experiments":[153],"conducted":[155],"OSSP":[158,180],"respectively,":[164],"verify":[166],"feasibility":[168,209],"method.":[174],"results":[176],"show":[177],"that":[178],"highest":[186],"accuracy,":[187],"efficiency,":[188],"good":[190],"stability":[191],"UGS,":[202],"it":[204],"has":[205],"great":[206],"maneuverability":[207],"practical":[211],"application.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}