{"id":"https://openalex.org/W3207254050","doi":"https://doi.org/10.1109/access.2021.3119594","title":"Stream-Function Based 3D Obstacle Avoidance Mechanism for Mobile AUVs in the Internet of Underwater Things","display_name":"Stream-Function Based 3D Obstacle Avoidance Mechanism for Mobile AUVs in the Internet of Underwater Things","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3207254050","doi":"https://doi.org/10.1109/access.2021.3119594","mag":"3207254050"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3119594","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3119594","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09568944.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/ielx7/6287639/6514899/09568944.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088764444","display_name":"Wenyu Cai","orcid":"https://orcid.org/0000-0002-8858-9221"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyu Cai","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China and Zhejiang Provincial Key Lab of Equipment Electronics, Hangzhou Dianzi University, Hangzhou, 310018, China. (e-mail: dreampp2000@163.com)","College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China","Zhejiang Provincial Key Lab of Equipment Electronics, Hangzhou Dianzi University, Hangzhou, 310018, China"],"raw_orcid":"https://orcid.org/0000-0002-8858-9221","affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China and Zhejiang Provincial Key Lab of Equipment Electronics, Hangzhou Dianzi University, Hangzhou, 310018, China. (e-mail: dreampp2000@163.com)","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Zhejiang Provincial Key Lab of Equipment Electronics, Hangzhou Dianzi University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084889905","display_name":"Qinan Xie","orcid":"https://orcid.org/0000-0001-8906-4868"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinan Xie","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China"],"raw_orcid":"https://orcid.org/0000-0001-8906-4868","affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036167349","display_name":"Meiyan Zhang","orcid":"https://orcid.org/0000-0002-0396-5786"},"institutions":[{"id":"https://openalex.org/I4210160030","display_name":"Zhejiang University of Water Resource and Electric Power","ror":"https://ror.org/04dg5b632","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210160030"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiyan Zhang","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, 310018, China and Department of Water Resources and Electric Power, Key Laboratory of Embedded System and Service Computing, Hangzhou, 310018, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, 310018, China and Department of Water Resources and Electric Power, Key Laboratory of Embedded System and Service Computing, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I4210160030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066546170","display_name":"Shuaishuai Lv","orcid":"https://orcid.org/0000-0002-9822-9959"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaishuai Lv","raw_affiliation_strings":["College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China"],"raw_orcid":"https://orcid.org/0000-0002-9822-9959","affiliations":[{"raw_affiliation_string":"College of Electronics and Information, Hangzhou Dianzi University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018616205","display_name":"Junyi Yang","orcid":"https://orcid.org/0000-0002-9603-3717"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyi Yang","raw_affiliation_strings":["Marine Engineering Center, Hangzhou Dianzi University, Hangzhou, 310018, China"],"raw_orcid":"https://orcid.org/0000-0002-9603-3717","affiliations":[{"raw_affiliation_string":"Marine Engineering Center, Hangzhou Dianzi University, Hangzhou, 310018, China","institution_ids":["https://openalex.org/I50760025"]}]}],"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":1.356,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.79648139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"9","issue":null,"first_page":"142997","last_page":"143012"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","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/T11192","display_name":"Underwater Vehicles and Communication Systems","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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/computer-science","display_name":"Computer science","score":0.7101778388023376},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5817438364028931},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.575947642326355},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5621135830879211},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5240785479545593},{"id":"https://openalex.org/keywords/internet-of-things","display_name":"Internet of Things","score":0.49665457010269165},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.49064889550209045},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.46605879068374634},{"id":"https://openalex.org/keywords/the-internet","display_name":"The Internet","score":0.44659677147865295},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3098127841949463},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.28103160858154297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24896851181983948},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.1648678183555603},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1310614049434662},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08118939399719238},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06682178378105164}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7101778388023376},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5817438364028931},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.575947642326355},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5621135830879211},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5240785479545593},{"id":"https://openalex.org/C81860439","wikidata":"https://www.wikidata.org/wiki/Q251212","display_name":"Internet of Things","level":2,"score":0.49665457010269165},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.49064889550209045},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46605879068374634},{"id":"https://openalex.org/C110875604","wikidata":"https://www.wikidata.org/wiki/Q75","display_name":"The Internet","level":2,"score":0.44659677147865295},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3098127841949463},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.28103160858154297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24896851181983948},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.1648678183555603},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1310614049434662},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08118939399719238},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06682178378105164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3119594","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3119594","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09568944.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:4f70beb357b742858887ab396e68e6dd","is_oa":true,"landing_page_url":"https://doaj.org/article/4f70beb357b742858887ab396e68e6dd","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 142997-143012 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3119594","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3119594","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09568944.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":0.8600000143051147,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4451549016","display_name":null,"funder_award_id":"No.61871163","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5536814102","display_name":null,"funder_award_id":"61871163","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6819902043","display_name":null,"funder_award_id":"GK209907299001-001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7902435087","display_name":null,"funder_award_id":"61801431","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3207254050.pdf","grobid_xml":"https://content.openalex.org/works/W3207254050.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1240171986","https://openalex.org/W1483826618","https://openalex.org/W1596895962","https://openalex.org/W2036546842","https://openalex.org/W2067383221","https://openalex.org/W2075956742","https://openalex.org/W2087474285","https://openalex.org/W2094891386","https://openalex.org/W2097158391","https://openalex.org/W2098091502","https://openalex.org/W2103120971","https://openalex.org/W2112097268","https://openalex.org/W2122302346","https://openalex.org/W2137448073","https://openalex.org/W2141664020","https://openalex.org/W2143206579","https://openalex.org/W2147224017","https://openalex.org/W2150197726","https://openalex.org/W2160032073","https://openalex.org/W2295034957","https://openalex.org/W2541635659","https://openalex.org/W2911474998","https://openalex.org/W2950938745","https://openalex.org/W2962431306","https://openalex.org/W2981238792","https://openalex.org/W2981553024","https://openalex.org/W3006626197","https://openalex.org/W3017071492","https://openalex.org/W3025221829","https://openalex.org/W3102210216","https://openalex.org/W3103837574","https://openalex.org/W3159201257","https://openalex.org/W4234279706","https://openalex.org/W4250730679","https://openalex.org/W4298077897","https://openalex.org/W6629084308","https://openalex.org/W6682217111"],"related_works":["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","https://openalex.org/W3043170174"],"abstract_inverted_index":{"The":[0,39],"mobility":[1],"manager":[2],"in":[3,14,36,69,182],"the":[4,104,109,146,152,168,172],"Internet":[5],"of":[6,73,108,154,175],"Underwater":[7],"Things":[8],"(IoUT)":[9],"plays":[10],"a":[11],"major":[12],"role":[13],"data":[15],"acquisition.":[16],"In":[17],"this":[18],"paper,":[19],"one":[20],"novel":[21],"obstacle":[22,57,98,113,129,148,160],"avoidance":[23,58,114,130,149,161,177],"method":[24,41,94,150,170],"based":[25,95,112],"on":[26,96],"fluid":[27],"mechanics":[28],"is":[29,62,100],"discussed":[30],"for":[31,64,123,180],"autonomous":[32],"underwater":[33],"vehicle":[34],"(AUV)":[35],"3D":[37,53,60,74,85],"IoUT.":[38,183],"proposed":[40,101,147,169],"utilizes":[42],"ocean":[43,138],"current":[44],"characteristics":[45,153],"simplified":[46],"as":[47],"stream-function":[48,61,75,80,111],"to":[49,84,102,125],"design":[50],"an":[51,56,119],"optimal":[52],"trajectory":[54],"with":[55],"function.":[59],"constructed":[63],"spherical":[65],"and":[66,157,163],"cylindrical":[67],"obstructions":[68],"details.":[70],"Theoretical":[71],"analysis":[72],"proves":[76],"that":[77,127,145],"traditional":[78,110],"2D":[79],"can":[81,132],"be":[82],"extended":[83],"IoUT":[86],"space":[87],"under":[88],"specific":[89],"conditions.":[90],"One":[91],"path":[92,178],"deformation":[93],"virtual":[97],"methodology":[99],"overcome":[103],"inherent":[105],"hysteresis":[106],"problem":[107],"design.":[115],"Moreover,":[116],"we":[117],"introduce":[118],"energy":[120,134,165],"consumption":[121],"model":[122],"AUV":[124,181],"prove":[126],"our":[128],"algorithm":[131],"improve":[133],"efficiency":[135],"if":[136],"actual":[137,173],"currents":[139],"exist.":[140],"Extensive":[141],"simulation":[142],"results":[143],"verify":[144],"has":[151],"curve":[155],"continuity":[156],"smoothness,":[158],"enhanced":[159],"effects,":[162],"high":[164],"efficiency.":[166],"Therefore,":[167],"meets":[171],"requirements":[174],"multi-obstacle":[176],"planning":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}