{"id":"https://openalex.org/W3129692087","doi":"https://doi.org/10.1109/access.2021.3060150","title":"COLREGS-based Path Planning for Ships at Sea Using Velocity Obstacles","display_name":"COLREGS-based Path Planning for Ships at Sea Using Velocity Obstacles","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3129692087","doi":"https://doi.org/10.1109/access.2021.3060150","mag":"3129692087"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3060150","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3060150","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09357912.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/ielx7/6287639/9312710/09357912.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115595283","display_name":"Wenjun Zhang","orcid":"https://orcid.org/0000-0001-9371-2397"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenjun Zhang","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068245148","display_name":"Chengyong Yan","orcid":"https://orcid.org/0000-0002-6498-4016"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengyong Yan","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-6498-4016","affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087205396","display_name":"Hongguang Lyu","orcid":"https://orcid.org/0000-0001-5602-7489"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongguang Lyu","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034269205","display_name":"Pinglin Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pinglin Wang","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057876616","display_name":"Zongyao Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongyao Xue","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100722182","display_name":"Zehua Li","orcid":"https://orcid.org/0000-0002-5624-5600"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehua Li","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100525098","display_name":"Bai Xiao","orcid":"https://orcid.org/0000-0003-1523-3483"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai Xiao","raw_affiliation_strings":["Dalian Port Pilot Station, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Port Pilot Station, Dalian, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5115595283"],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":5.0325,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.95492376,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"32613","last_page":"32626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9994000196456909,"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":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.965499997138977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5704084634780884},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5281750559806824},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5262811779975891},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.522027313709259},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1600482165813446},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11536917090415955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10990706086158752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08721232414245605}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5704084634780884},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5281750559806824},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5262811779975891},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.522027313709259},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1600482165813446},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11536917090415955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10990706086158752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08721232414245605}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3060150","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3060150","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09357912.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:601469e0b0134044a1b3164142e83491","is_oa":true,"landing_page_url":"https://doaj.org/article/601469e0b0134044a1b3164142e83491","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 32613-32626 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3060150","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3060150","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09357912.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":0.8100000023841858,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1308237481","display_name":null,"funder_award_id":"20180551040","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G1807894031","display_name":null,"funder_award_id":"2019YFB1600602","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G2909782629","display_name":null,"funder_award_id":"52071049","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4706184745","display_name":null,"funder_award_id":"2019YFB1600602","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4823817007","display_name":null,"funder_award_id":"3132020128","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3129692087.pdf","grobid_xml":"https://content.openalex.org/works/W3129692087.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1555534504","https://openalex.org/W1580535863","https://openalex.org/W1965370755","https://openalex.org/W1976839759","https://openalex.org/W2002440441","https://openalex.org/W2010750115","https://openalex.org/W2031404716","https://openalex.org/W2062027020","https://openalex.org/W2074547849","https://openalex.org/W2086145328","https://openalex.org/W2094941760","https://openalex.org/W2097639646","https://openalex.org/W2142943472","https://openalex.org/W2151130451","https://openalex.org/W2166052572","https://openalex.org/W2327298648","https://openalex.org/W2531349847","https://openalex.org/W2556122738","https://openalex.org/W2753678482","https://openalex.org/W2901325952","https://openalex.org/W2907106190","https://openalex.org/W2940080152","https://openalex.org/W6728626449"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Recent":[0],"studies":[1,13],"have":[2],"made":[3],"significant":[4],"development":[5],"in":[6,74,168],"path":[7],"planning":[8],"for":[9,21,49,92,132,161,172,193,206],"ships.":[10],"However":[11],"some":[12],"blindly":[14,214],"obey":[15],"rules":[16,216],"of":[17,54,83,101,117,140,149,186,217],"COLREGS":[18,56,218],"(International":[19],"Regulations":[20],"Preventing":[22],"Collisions":[23],"at":[24,145],"Sea)":[25],"or":[26],"only":[27,212],"adopt":[28],"turning":[29,36],"to":[30,37,127,163,182],"starboard":[31],"ignoring":[32],"actual":[33],"practice,":[34,60],"like,":[35],"port":[38],"and":[39,57,70,105,153,190,204],"considering":[40],"deviation":[41,223],"from":[42,224],"the":[43,55,80,84,141,146,155,165,187,200,225],"planned":[44,226],"route":[45],"when":[46,94],"taking":[47,95],"actions":[48,66,73],"collision":[50,64,71,108,207],"avoidance.":[51,208],"In":[52],"view":[53],"ordinary":[58],"seamen":[59],"this":[61,111],"paper":[62,112],"proposes":[63],"avoidance":[65,72,109],"before":[67],"encounter":[68,76,85,102,120,175,195],"situation":[69,103],"an":[75],"situation.":[77],"Based":[78],"on":[79],"different":[81,99,194],"stages":[82,100],"situation,":[86],"it":[87],"will":[88],"add":[89],"more":[90],"choices":[91],"ships":[93],"action.":[96],"To":[97],"specify":[98],"clearly":[104],"take":[106],"proper":[107],"actions,":[110],"makes":[113],"a":[114,158],"quantitative":[115],"analysis":[116,139],"three":[118,173],"primary":[119,174],"situations;":[121,176],"velocity":[122,130,167,170,189],"obstacles":[123],"(VO)":[124],"is":[125,180,191],"employed":[126],"find":[128],"allowed":[129,169],"space":[131,171],"own":[133],"ship":[134],"(OS);":[135],"by":[136],"making":[137],"further":[138],"relationship":[142],"among":[143],"distance":[144],"closest":[147],"point":[148],"approach,":[150],"bow":[151],"cross,":[152],"COLREGS,":[154],"method":[156,210],"gives":[157],"clear":[159],"direction":[160],"OS":[162],"search":[164,183],"best":[166,188],"VO":[177],"utility":[178],"function":[179],"applied":[181],"specific":[184],"value":[185],"useful":[192],"situations.":[196],"Simulations":[197],"show":[198],"that":[199],"results":[201],"are":[202],"effective":[203],"deterministic":[205],"This":[209],"not":[211],"prevents":[213],"obeying":[215],"but":[219],"also":[220],"promotes":[221],"reducing":[222],"route.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}