{"id":"https://openalex.org/W3082946196","doi":"https://doi.org/10.1109/access.2020.3020859","title":"An Autonomous Parking System of Optimally Integrating Bidirectional Rapidly-Exploring Random Trees and Parking-Oriented Model Predictive Control","display_name":"An Autonomous Parking System of Optimally Integrating Bidirectional Rapidly-Exploring Random Trees and Parking-Oriented Model Predictive Control","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3082946196","doi":"https://doi.org/10.1109/access.2020.3020859","mag":"3082946196"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3020859","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020859","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09183957.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/ielx7/6287639/8948470/09183957.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013959840","display_name":"Jyun\u2010Hao Jhang","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]},{"id":"https://openalex.org/I4210148468","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63","country_code":"TW","type":"nonprofit","lineage":["https://openalex.org/I4210148468"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jyun-Hao Jhang","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","Institute of Mechanical and Mechatronics Systems, Industrial Technology Research Institute, Hsinchu, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Institute of Mechanical and Mechatronics Systems, Industrial Technology Research Institute, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I4210148468"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084614095","display_name":"Feng\u2010Li Lian","orcid":"https://orcid.org/0000-0002-1260-4894"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]},{"id":"https://openalex.org/I4210148468","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63","country_code":"TW","type":"nonprofit","lineage":["https://openalex.org/I4210148468"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Feng-Li Lian","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","Institute of Mechanical and Mechatronics Systems, Industrial Technology Research Institute, Hsinchu, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-1260-4894","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Institute of Mechanical and Mechatronics Systems, Industrial Technology Research Institute, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I4210148468"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":2.7894,"has_fulltext":true,"cited_by_count":39,"citation_normalized_percentile":{"value":0.89735685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"163502","last_page":"163523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12546","display_name":"Smart Parking Systems Research","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.9987000226974487,"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":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7418181896209717},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5775872468948364},{"id":"https://openalex.org/keywords/parking-lot","display_name":"Parking lot","score":0.5588960647583008},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5437967777252197},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4883729815483093},{"id":"https://openalex.org/keywords/inefficiency","display_name":"Inefficiency","score":0.46954187750816345},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4555590748786926},{"id":"https://openalex.org/keywords/parking-guidance-and-information","display_name":"Parking guidance and information","score":0.44762441515922546},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41165611147880554},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3973219096660614},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35241591930389404},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32713112235069275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1941424310207367},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16548427939414978},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13785475492477417},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.11700794100761414}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7418181896209717},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5775872468948364},{"id":"https://openalex.org/C2777427512","wikidata":"https://www.wikidata.org/wiki/Q6501349","display_name":"Parking lot","level":2,"score":0.5588960647583008},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5437967777252197},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4883729815483093},{"id":"https://openalex.org/C2778869765","wikidata":"https://www.wikidata.org/wiki/Q6028363","display_name":"Inefficiency","level":2,"score":0.46954187750816345},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4555590748786926},{"id":"https://openalex.org/C14353550","wikidata":"https://www.wikidata.org/wiki/Q386125","display_name":"Parking guidance and information","level":2,"score":0.44762441515922546},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41165611147880554},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3973219096660614},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35241591930389404},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32713112235069275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1941424310207367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16548427939414978},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13785475492477417},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.11700794100761414},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","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},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3020859","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020859","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09183957.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:df56b34fa1504a0a8760dcd403119292","is_oa":true,"landing_page_url":"https://doaj.org/article/df56b34fa1504a0a8760dcd403119292","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 8, Pp 163502-163523 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3020859","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3020859","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09183957.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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G1052468712","display_name":null,"funder_award_id":"MOST 105-","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G1482380256","display_name":null,"funder_award_id":"MOST 105-2221-E-002 -135-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G3376269201","display_name":null,"funder_award_id":"MOST 108-2634-F-002-0024","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G3468423577","display_name":null,"funder_award_id":"MOST 105","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G737106015","display_name":null,"funder_award_id":"MOST 108-","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322214","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63"},{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3082946196.pdf","grobid_xml":"https://content.openalex.org/works/W3082946196.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W132419959","https://openalex.org/W1513733602","https://openalex.org/W1970411044","https://openalex.org/W2017358384","https://openalex.org/W2028044548","https://openalex.org/W2032924574","https://openalex.org/W2089687364","https://openalex.org/W2101576084","https://openalex.org/W2112930335","https://openalex.org/W2114738290","https://openalex.org/W2127988032","https://openalex.org/W2172117433","https://openalex.org/W2207691784","https://openalex.org/W2288268046","https://openalex.org/W2341848647","https://openalex.org/W2343568200","https://openalex.org/W2562830346","https://openalex.org/W2581179155","https://openalex.org/W2767077474","https://openalex.org/W2783485394","https://openalex.org/W2784009468","https://openalex.org/W2784045567","https://openalex.org/W2791468499","https://openalex.org/W2891899936","https://openalex.org/W2895830705","https://openalex.org/W2898834506","https://openalex.org/W2941223119","https://openalex.org/W2980673794","https://openalex.org/W3015828358","https://openalex.org/W3117464505","https://openalex.org/W4233155674","https://openalex.org/W4236071179","https://openalex.org/W6677111267","https://openalex.org/W6787833526"],"related_works":["https://openalex.org/W1582061741","https://openalex.org/W3109818280","https://openalex.org/W2387893587","https://openalex.org/W3096807189","https://openalex.org/W2997176519","https://openalex.org/W4389196248","https://openalex.org/W2741155299","https://openalex.org/W2948848367","https://openalex.org/W3210020561","https://openalex.org/W1989661714"],"abstract_inverted_index":{"Autonomous":[0],"parking":[1,12,42,108,139,151,181],"techniques":[2],"can":[3,193],"be":[4,194],"used":[5],"to":[6,37,49,82,116,176],"tackle":[7],"the":[8,51,76,111,119,133,136,165,174,179,190],"lacking":[9],"problem":[10],"of":[11,22,54,62,135,167],"spaces.":[13,72,90],"In":[14],"this":[15,74],"paper,":[16],"a":[17],"sampling-based":[18,56],"motion":[19,57,78],"planner":[20,79],"consisting":[21],"optimizing":[23],"bidirectional":[24],"rapidly-exploring":[25],"random":[26],"trees*":[27],"(Bi-RRT*)":[28],"and":[29,65,67,88,99,105,128,143,149],"parking-oriented":[30,92],"model":[31],"predictive":[32],"control":[33],"(MPC)":[34],"is":[35,80,94,114],"proposed":[36,77,112,137,191],"properly":[38],"deal":[39,177],"with":[40,86,178],"various":[41,180,184],"scenarios.":[43,182],"The":[44,91,159],"optimal":[45],"Bi-RRT*":[46],"approach":[47],"aims":[48],"improve":[50],"common":[52,148],"defects":[53],"traditional":[55],"planners,":[58],"such":[59,122,153],"as":[60,123,154],"uncertainties":[61],"path":[63],"quality":[64],"consistency,":[66],"exploring":[68],"inefficiency":[69],"in":[70,147,197],"narrow":[71,89],"For":[73],"reason,":[75],"able":[81],"overcome":[83],"strict":[84,150],"environments":[85],"obstacles":[87],"MPC":[93],"then":[95],"designed":[96],"for":[97,103],"steering":[98],"speed":[100],"controls":[101],"simultaneously":[102],"accurately":[104],"smoothly":[106],"tracking":[107],"paths.":[109],"Furthermore,":[110,183],"controller":[113],"dedicated":[115],"work":[117],"under":[118],"practical":[120],"scenarios,":[121,152],"vehicle":[124],"considerations,":[125],"real-time":[126],"control,":[127],"signal":[129],"delay.":[130],"To":[131],"verify":[132,164],"effects":[134,166],"autonomous":[138],"system,":[140],"extensive":[141],"simulations":[142],"experiments":[144,186],"are":[145],"conducted":[146],"perpendicular":[155],"parking,":[156],"parallel":[157],"parking.":[158],"simulation":[160],"results":[161],"not":[162],"only":[163],"each":[168],"technical":[169],"element,":[170],"but":[171],"also":[172],"show":[173],"capability":[175],"on-car":[185],"sufficiently":[187],"demonstrate":[188],"that":[189],"system":[192],"actually":[195],"implemented":[196],"everyday":[198],"life.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}