{"id":"https://openalex.org/W3081865061","doi":"https://doi.org/10.1109/access.2020.3020632","title":"Obstacle Recognition and Avoidance for UAVs Under Resource-Constrained Environments","display_name":"Obstacle Recognition and Avoidance for UAVs Under Resource-Constrained Environments","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3081865061","doi":"https://doi.org/10.1109/access.2020.3020632","mag":"3081865061"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3020632","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020632","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09181515.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8948470/09181515.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101795774","display_name":"Yiming Mao","orcid":"https://orcid.org/0000-0003-3743-0525"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yiming Mao","raw_affiliation_strings":["Department of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101861910","display_name":"Ming Chen","orcid":"https://orcid.org/0000-0003-1225-0560"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Chen","raw_affiliation_strings":["Department of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059879436","display_name":"Xianglin Wei","orcid":"https://orcid.org/0000-0002-6181-4441"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianglin Wei","raw_affiliation_strings":["The 63rd Research Institute, National University of Defense Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"The 63rd Research Institute, National University of Defense Technology, Nanjing, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100443103","display_name":"Bing Chen","orcid":"https://orcid.org/0000-0002-2863-5441"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Chen","raw_affiliation_strings":["Department of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101795774"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":12.5773,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.97986846,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"169408","last_page":"169422"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8824841976165771},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.872681736946106},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7908731698989868},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.7042626142501831},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6361034512519836},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5460250377655029},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5284673571586609},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5146125555038452},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.5128915309906006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4680483043193817},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4566291272640228},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44903939962387085},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.418011873960495},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32929545640945435},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24231979250907898},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17295745015144348},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15217551589012146},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14157286286354065},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10817599296569824}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8824841976165771},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.872681736946106},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7908731698989868},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7042626142501831},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6361034512519836},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5460250377655029},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5284673571586609},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5146125555038452},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.5128915309906006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4680483043193817},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4566291272640228},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44903939962387085},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.418011873960495},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32929545640945435},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24231979250907898},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17295745015144348},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15217551589012146},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14157286286354065},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10817599296569824},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3020632","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020632","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09181515.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0c26cf14f93041289690a6a7c8be9039","is_oa":true,"landing_page_url":"https://doaj.org/article/0c26cf14f93041289690a6a7c8be9039","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 8, Pp 169408-169422 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3020632","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020632","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09181515.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3518331344","display_name":null,"funder_award_id":"61379149","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5062737515","display_name":null,"funder_award_id":"61772271","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8208342437","display_name":null,"funder_award_id":"1 and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8745099089","display_name":null,"funder_award_id":"6177227","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"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3081865061.pdf","grobid_xml":"https://content.openalex.org/works/W3081865061.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W206745480","https://openalex.org/W1508960934","https://openalex.org/W1923344279","https://openalex.org/W1965705114","https://openalex.org/W1974204180","https://openalex.org/W1993362737","https://openalex.org/W2019586060","https://openalex.org/W2035981208","https://openalex.org/W2055429482","https://openalex.org/W2069698418","https://openalex.org/W2086504823","https://openalex.org/W2087359641","https://openalex.org/W2101488792","https://openalex.org/W2104291212","https://openalex.org/W2107664584","https://openalex.org/W2109514979","https://openalex.org/W2117228865","https://openalex.org/W2124103005","https://openalex.org/W2148316751","https://openalex.org/W2421967491","https://openalex.org/W2537786618","https://openalex.org/W2564906327","https://openalex.org/W2566623069","https://openalex.org/W2582119245","https://openalex.org/W2592566028","https://openalex.org/W2708700903","https://openalex.org/W2734821685","https://openalex.org/W2746411854","https://openalex.org/W2763213405","https://openalex.org/W2924060727","https://openalex.org/W3147043586","https://openalex.org/W4242423212","https://openalex.org/W4243987629","https://openalex.org/W6675444593","https://openalex.org/W6676637516","https://openalex.org/W6717348043","https://openalex.org/W6734202331","https://openalex.org/W6740107971","https://openalex.org/W6745272545"],"related_works":["https://openalex.org/W4309346268","https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446"],"abstract_inverted_index":{"Existing":[0],"resource-intensive":[1],"obstacle":[2,31,49,60,73],"avoidance":[3,34,74],"techniques":[4],"are":[5],"hard":[6],"to":[7,28,78,135],"be":[8],"applied":[9],"on":[10,53,106],"the":[11,80,93,96,124,152,160,165,169],"small-size":[12],"Unmanned":[13],"Aerial":[14],"Vehicles":[15],"(UAVs)":[16],"that":[17,123],"have":[18],"limited":[19],"sensing":[20],"and":[21,33,101,114,127,143,158],"computation":[22],"capacity.":[23],"Therefore,":[24],"it":[25,87],"is":[26,63,69,76],"necessary":[27],"develop":[29],"an":[30,48,59,72,140],"recognition":[32,50,61],"scheme":[35],"which":[36],"works":[37],"under":[38],"resource-constrained":[39],"environments.":[40],"To":[41,91],"this":[42,44],"backdrop,":[43],"paper":[45],"first":[46],"presents":[47],"model":[51,126],"based":[52],"monocular":[54],"vision":[55],"feature":[56],"points.":[57],"Afterwards,":[58],"algorithm":[62],"put":[64],"forward,":[65],"whose":[66],"computational":[67],"complexity":[68],"low.":[70],"Then,":[71],"method":[75],"proposed":[77,125],"regulate":[79],"obstacle-avoidance":[81],"path":[82],"of":[83,95,118],"a":[84,103,116,132],"UAV":[85,134,153],"until":[86],"arrives":[88],"its":[89,136],"destination.":[90],"evaluate":[92],"effectiveness":[94],"presented":[97],"algorithms,":[98],"we":[99],"design":[100],"implement":[102],"simulation":[104],"platform":[105],"Objective":[107],"Modular":[108],"Network":[109],"Testbed":[110],"in":[111,148],"C++":[112],"(OMNeT++),":[113],"conduct":[115],"series":[117],"experiments.":[119],"Experimental":[120],"results":[121],"show":[122],"algorithms":[128],"can":[129,154],"effectively":[130],"guide":[131],"micro":[133],"destination":[137,161,166],"using":[138],"only":[139,162],"embedded":[141],"processor":[142],"0.5kg":[144],"extra":[145],"load.":[146],"Even":[147],"poor":[149],"communication":[150],"conditions,":[151],"independently":[155],"avoid":[156],"obstacles":[157],"reach":[159],"by":[163],"acquiring":[164],"coordinates":[167],"from":[168],"ground":[170],"station.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}