{"id":"https://openalex.org/W3127085325","doi":"https://doi.org/10.1109/access.2021.3057485","title":"Unmanned Aerial Vehicle Path Planning Algorithm Based on Deep Reinforcement Learning in Large-Scale and Dynamic Environments","display_name":"Unmanned Aerial Vehicle Path Planning Algorithm Based on Deep Reinforcement Learning in Large-Scale and Dynamic Environments","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3127085325","doi":"https://doi.org/10.1109/access.2021.3057485","mag":"3127085325"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3057485","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3057485","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09348925.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/ielx7/6287639/9312710/09348925.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080616056","display_name":"Ronglei Xie","orcid":"https://orcid.org/0000-0001-5762-5093"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ronglei Xie","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5762-5093","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437732","display_name":"Zhijun Meng","orcid":"https://orcid.org/0000-0002-2769-4343"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Meng","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2769-4343","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100755772","display_name":"Lifeng Wang","orcid":"https://orcid.org/0000-0001-5051-5991"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifeng Wang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5051-5991","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100742024","display_name":"Haochen Li","orcid":"https://orcid.org/0000-0002-9388-2297"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haochen Li","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9388-2297","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025931527","display_name":"Kaipeng Wang","orcid":"https://orcid.org/0000-0001-8123-9846"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaipeng Wang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8123-9846","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101526456","display_name":"Zhe Wu","orcid":"https://orcid.org/0000-0002-2095-0180"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Wu","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2095-0180","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":8.6359,"has_fulltext":true,"cited_by_count":144,"citation_normalized_percentile":{"value":0.98440725,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"24884","last_page":"24900"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.855107307434082},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.791602611541748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7748419046401978},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7621973752975464},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.7050071358680725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6021255254745483},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5659894943237305},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5007295608520508},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41623854637145996},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.41226649284362793},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39155974984169006},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.3450479507446289},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23274299502372742}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.855107307434082},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.791602611541748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7748419046401978},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7621973752975464},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7050071358680725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6021255254745483},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5659894943237305},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5007295608520508},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41623854637145996},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41226649284362793},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39155974984169006},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3450479507446289},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23274299502372742},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3057485","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3057485","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09348925.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:7af839ada11b468aaa513016ec929502","is_oa":true,"landing_page_url":"https://doaj.org/article/7af839ada11b468aaa513016ec929502","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 9, Pp 24884-24900 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3057485","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3057485","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09348925.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":[],"awards":[{"id":"https://openalex.org/G1634902648","display_name":null,"funder_award_id":"61976014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6141069227","display_name":null,"funder_award_id":"61702023","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3127085325.pdf","grobid_xml":"https://content.openalex.org/works/W3127085325.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W1493644597","https://openalex.org/W1662842982","https://openalex.org/W1757796397","https://openalex.org/W1967005434","https://openalex.org/W1986998777","https://openalex.org/W2037069310","https://openalex.org/W2038488525","https://openalex.org/W2040244142","https://openalex.org/W2051784331","https://openalex.org/W2062638825","https://openalex.org/W2064675550","https://openalex.org/W2076014856","https://openalex.org/W2081061566","https://openalex.org/W2097381042","https://openalex.org/W2114652533","https://openalex.org/W2119112357","https://openalex.org/W2121092017","https://openalex.org/W2140135625","https://openalex.org/W2140836772","https://openalex.org/W2143560894","https://openalex.org/W2145339207","https://openalex.org/W2147424342","https://openalex.org/W2153809277","https://openalex.org/W2154997814","https://openalex.org/W2184920487","https://openalex.org/W2201581102","https://openalex.org/W2227909145","https://openalex.org/W2257979135","https://openalex.org/W2281915027","https://openalex.org/W2319003540","https://openalex.org/W2333562572","https://openalex.org/W2348623805","https://openalex.org/W2354778626","https://openalex.org/W2395636425","https://openalex.org/W2524241275","https://openalex.org/W2604046835","https://openalex.org/W2613621466","https://openalex.org/W2791698329","https://openalex.org/W2907916537","https://openalex.org/W2914656440","https://openalex.org/W2940508125","https://openalex.org/W2962938178","https://openalex.org/W2963428623","https://openalex.org/W2963477884","https://openalex.org/W3099533866","https://openalex.org/W4298857966","https://openalex.org/W6637967152","https://openalex.org/W6660408754","https://openalex.org/W6674600207","https://openalex.org/W6677939520","https://openalex.org/W6678097026","https://openalex.org/W6680657880","https://openalex.org/W6687681856","https://openalex.org/W6712388604"],"related_works":["https://openalex.org/W3096874164","https://openalex.org/W2937181779","https://openalex.org/W2386410636","https://openalex.org/W1985560493","https://openalex.org/W2357975469","https://openalex.org/W2145363145","https://openalex.org/W1626977535","https://openalex.org/W2341346307","https://openalex.org/W3168977894","https://openalex.org/W187740018"],"abstract_inverted_index":{"Path":[0],"planning":[1,17,43,73],"is":[2,91],"one":[3],"of":[4,11,147,169],"the":[5,25,46,58,64,95,115,120,125,145,183,190,196],"key":[6],"technologies":[7],"for":[8,40],"autonomous":[9],"flight":[10],"Unmanned":[12],"Aerial":[13],"Vehicle.":[14],"Traditional":[15],"path":[16,42,72,181],"algorithms":[18],"have":[19],"some":[20],"limitations":[21],"and":[22,27,49,119,136,163,171,185,188],"deficiencies":[23],"in":[24,63,167,182],"complex":[26,186],"dynamic":[28],"environment.":[29,198],"In":[30,128],"this":[31],"article,":[32],"we":[33,130],"propose":[34,137],"a":[35,78,178],"deep":[36],"reinforcement":[37],"learning":[38,172],"approach":[39,175],"three-dimensional":[41,180],"by":[44,99],"utilizing":[45],"local":[47],"information":[48,61,102],"relative":[50],"distance":[51],"without":[52],"global":[53],"information.":[54],"UAV":[55],"can":[56,74],"obtain":[57],"limited":[59,68],"environmental":[60],"nearby":[62],"actual":[65],"scenario":[66],"with":[67,88],"sensor":[69],"capabilities.":[70],"Therefore,":[71],"be":[75],"formulated":[76],"as":[77],"Partially":[79],"Observable":[80],"Markov":[81],"Decision":[82],"Process.":[83],"The":[84,149],"recurrent":[85],"neural":[86],"network":[87],"temporal":[89],"memory":[90,134],"constructed":[92],"to":[93,123,193],"address":[94],"partial":[96],"observability":[97],"problem":[98],"extracting":[100],"crucial":[101],"from":[103],"historical":[104],"state-action":[105,121],"sequences.":[106],"We":[107],"develop":[108],"an":[109,138],"action":[110],"selection":[111],"strategy":[112],"that":[113,154],"combines":[114],"current":[116],"reward":[117],"value":[118,122],"reduce":[124],"meaningless":[126],"exploration.":[127],"addition,":[129],"construct":[131],"two":[132],"sample":[133],"pools":[135],"adaptive":[139],"experience":[140],"replay":[141],"mechanism":[142],"based":[143],"on":[144],"frequency":[146],"failure.":[148],"simulation":[150],"experiment":[151],"results":[152],"show":[153],"our":[155],"method":[156],"has":[157,189],"significant":[158],"improvements":[159],"over":[160],"Deep":[161,164],"Q-Network":[162,166],"Recurrent":[165],"terms":[168],"stability":[170],"efficiency.":[173],"Our":[174],"successfully":[176],"plans":[177],"reasonable":[179],"large-scale":[184],"environment,":[187],"perfect":[191],"ability":[192],"avoid":[194],"obstacles.in":[195],"unknown":[197]},"counts_by_year":[{"year":2026,"cited_by_count":14},{"year":2025,"cited_by_count":41},{"year":2024,"cited_by_count":38},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":5}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
