{"id":"https://openalex.org/W2935623401","doi":"https://doi.org/10.1109/access.2019.2907783","title":"Collision Avoidance Planning Method of USV Based on Improved Ant Colony Optimization Algorithm","display_name":"Collision Avoidance Planning Method of USV Based on Improved Ant Colony Optimization Algorithm","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2935623401","doi":"https://doi.org/10.1109/access.2019.2907783","mag":"2935623401"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2907783","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2907783","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08676280.pdf","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://ieeexplore.ieee.org/ielx7/6287639/8600701/08676280.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100740072","display_name":"Hongjian Wang","orcid":"https://orcid.org/0000-0003-1187-0135"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongjian Wang","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101727480","display_name":"Feng Guo","orcid":"https://orcid.org/0000-0002-5420-8523"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng Guo","raw_affiliation_strings":["Tianjin Jinhang Institute of Computing Technologies, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5420-8523","affiliations":[{"raw_affiliation_string":"Tianjin Jinhang Institute of Computing Technologies, Tianjin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081431208","display_name":"Hongfei Yao","orcid":"https://orcid.org/0000-0002-4608-6116"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongfei Yao","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-4608-6116","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102022065","display_name":"Shanshan He","orcid":"https://orcid.org/0000-0003-3930-1452"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanshan He","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101928560","display_name":"Xin Xu","orcid":"https://orcid.org/0000-0003-4876-7123"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Xu","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":9.4333,"has_fulltext":true,"cited_by_count":87,"citation_normalized_percentile":{"value":0.98604184,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"7","issue":null,"first_page":"52964","last_page":"52975"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9998000264167786,"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/T12985","display_name":"Maritime Security and History","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11223","display_name":"Maritime Ports and Logistics","score":0.968999981880188,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.8044368624687195},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.740784227848053},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7342572212219238},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6657420992851257},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6424738764762878},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44721367955207825},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4195678234100342},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39240118861198425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28732532262802124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13417553901672363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12038639187812805}],"concepts":[{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.8044368624687195},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.740784227848053},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7342572212219238},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6657420992851257},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6424738764762878},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44721367955207825},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4195678234100342},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39240118861198425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28732532262802124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13417553901672363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12038639187812805},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2907783","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2907783","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08676280.pdf","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:974cc963cae54968b6e3496346bfb1a7","is_oa":true,"landing_page_url":"https://doaj.org/article/974cc963cae54968b6e3496346bfb1a7","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 7, Pp 52964-52975 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2907783","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2907783","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08676280.pdf","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":0.5699999928474426,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1081757666","display_name":null,"funder_award_id":"F2015035","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G2613986417","display_name":null,"funder_award_id":"61633008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4491844461","display_name":null,"funder_award_id":"F2015035","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G746292463","display_name":null,"funder_award_id":"51609046","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2935623401.pdf","grobid_xml":"https://content.openalex.org/works/W2935623401.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1524823617","https://openalex.org/W1617861041","https://openalex.org/W1970945972","https://openalex.org/W1992891081","https://openalex.org/W2008489728","https://openalex.org/W2026535857","https://openalex.org/W2031404716","https://openalex.org/W2032133542","https://openalex.org/W2038468713","https://openalex.org/W2056862136","https://openalex.org/W2082279538","https://openalex.org/W2086145328","https://openalex.org/W2100561003","https://openalex.org/W2106545767","https://openalex.org/W2107631366","https://openalex.org/W2167886725","https://openalex.org/W2271568210","https://openalex.org/W2433222857","https://openalex.org/W2557053319","https://openalex.org/W2557621405","https://openalex.org/W2578971089","https://openalex.org/W2582118765","https://openalex.org/W2587672045","https://openalex.org/W2597861093","https://openalex.org/W2734520697","https://openalex.org/W2735120051","https://openalex.org/W2795322905","https://openalex.org/W2801588410","https://openalex.org/W3212903828","https://openalex.org/W6732627842","https://openalex.org/W6734974025"],"related_works":["https://openalex.org/W2727311809","https://openalex.org/W2182624400","https://openalex.org/W2767428579","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"In":[0],"order":[1,38],"to":[2,39,59,78,105,130,149,154],"solve":[3],"the":[4,11,33,41,50,62,72,79,85,108,114,132,137,143,151,156,163,170,176,184],"problem":[5,115],"of":[6,10,44,53,169,179],"insufficient":[7],"search":[8,60,157],"ability":[9],"unmanned":[12],"surface":[13],"vehicle":[14],"(USV)":[15],"collision":[16,181],"avoidance":[17,182],"planning":[18],"algorithm,":[19],"this":[20],"paper":[21],"proposes":[22],"an":[23,123],"improved":[24,124,171],"ant":[25,133,145],"colony":[26],"optimization":[27],"algorithm":[28],"(ACO).":[29],"First,":[30],"aiming":[31,112],"at":[32,95,113],"static":[34,185],"unknown":[35,186],"environment,":[36,82],"in":[37,183],"improve":[40],"real-time":[42,165],"performance":[43],"USV":[45,54,180],"online":[46],"planning,":[47],"and":[48,89,142,167,187],"considering":[49],"environmental":[51],"characteristics":[52],"operation":[55],"for":[56,61,71,92],"improving":[57],"ACO":[58,117,172],"optimal":[63],"path,":[64],"a":[65,98,119],"dynamic":[66,81,109,188],"viewable":[67],"method":[68,102],"is":[69,103,128],"proposed":[70,129],"local":[73,160],"environment":[74],"model.":[75],"Second,":[76],"according":[77],"known":[80,189],"based":[83],"on":[84],"motion":[86],"velocity":[87],"model":[88],"International":[90],"Regulations":[91],"Preventing":[93],"Collisions":[94],"Sea":[96],"(COLREGS),":[97],"reverse":[99],"eccentric":[100],"expansion":[101],"designed":[104],"deal":[106],"with":[107],"obstacles.":[110],"Then,":[111],"that":[116],"has":[118],"slow":[120],"convergence":[121],"speed,":[122],"pseudo-random":[125],"proportional":[126],"rule":[127],"select":[131],"state":[134],"transition.":[135],"And":[136],"wolf":[138],"pack":[139],"allocation":[140],"principle":[141],"maximum-minimum":[144],"system":[146],"are":[147,173],"used":[148],"update":[150],"global":[152],"pheromone":[153],"avoid":[155],"falling":[158],"into":[159],"optimum.":[161],"Finally,":[162],"convergence,":[164],"performance,":[166],"stability":[168],"verified":[174],"through":[175],"simulation":[177],"experiment":[178],"environment.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}