{"id":"https://openalex.org/W4379468179","doi":"https://doi.org/10.1109/access.2023.3282695","title":"Dynamic Planning for Obstacle Avoidance of Crawler Based on Gaussian Model","display_name":"Dynamic Planning for Obstacle Avoidance of Crawler Based on Gaussian Model","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4379468179","doi":"https://doi.org/10.1109/access.2023.3282695"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3282695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3282695","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10143636.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":null,"license_id":null,"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/ielx7/6287639/10005208/10143636.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101888222","display_name":"Ying Zhao","orcid":"https://orcid.org/0000-0003-0096-5614"},"institutions":[{"id":"https://openalex.org/I142108993","display_name":"Southwest University","ror":"https://ror.org/01kj4z117","country_code":"CN","type":"education","lineage":["https://openalex.org/I142108993"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Zhao","raw_affiliation_strings":["College of Engineering and Technology, Southwest University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0003-0096-5614","affiliations":[{"raw_affiliation_string":"College of Engineering and Technology, Southwest University, Chongqing, China","institution_ids":["https://openalex.org/I142108993"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101798380","display_name":"Zhihan Zhang","orcid":"https://orcid.org/0000-0001-7394-5409"},"institutions":[{"id":"https://openalex.org/I142108993","display_name":"Southwest University","ror":"https://ror.org/01kj4z117","country_code":"CN","type":"education","lineage":["https://openalex.org/I142108993"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihan Zhang","raw_affiliation_strings":["College of Engineering and Technology, Southwest University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Technology, Southwest University, Chongqing, China","institution_ids":["https://openalex.org/I142108993"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100361532","display_name":"Zhihao Zhang","orcid":"https://orcid.org/0000-0002-3038-3415"},"institutions":[{"id":"https://openalex.org/I142108993","display_name":"Southwest University","ror":"https://ror.org/01kj4z117","country_code":"CN","type":"education","lineage":["https://openalex.org/I142108993"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihao Zhang","raw_affiliation_strings":["College of Engineering and Technology, Southwest University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Technology, Southwest University, Chongqing, China","institution_ids":["https://openalex.org/I142108993"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101275976","display_name":"Junxiang Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I142108993","display_name":"Southwest University","ror":"https://ror.org/01kj4z117","country_code":"CN","type":"education","lineage":["https://openalex.org/I142108993"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junxiang Zeng","raw_affiliation_strings":["College of Engineering and Technology, Southwest University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering and Technology, Southwest University, Chongqing, China","institution_ids":["https://openalex.org/I142108993"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008702730","display_name":"Yueqiang Wang","orcid":"https://orcid.org/0000-0002-9246-0877"},"institutions":[{"id":"https://openalex.org/I4210131649","display_name":"China Automotive Engineering Research Institute","ror":"https://ror.org/039jhgf83","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210131649"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueqiang Wang","raw_affiliation_strings":["Changan Automotive Research Center, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Changan Automotive Research Center, Chongqing, China","institution_ids":["https://openalex.org/I4210131649"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019776679","display_name":"Xiangfei Huang","orcid":"https://orcid.org/0000-0001-5782-5212"},"institutions":[{"id":"https://openalex.org/I142108993","display_name":"Southwest University","ror":"https://ror.org/01kj4z117","country_code":"CN","type":"education","lineage":["https://openalex.org/I142108993"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangfei Huang","raw_affiliation_strings":["College of Engineering and Technology, Southwest University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-5782-5212","affiliations":[{"raw_affiliation_string":"College of Engineering and Technology, Southwest University, Chongqing, China","institution_ids":["https://openalex.org/I142108993"]}]}],"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":0.3191,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.552418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":null,"first_page":"55442","last_page":"55455"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9805999994277954,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6962167620658875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6223642826080322},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5960639715194702},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5311666131019592},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4910776615142822},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4889277517795563},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.45855849981307983},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.44290992617607117},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3950749337673187},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3775801360607147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3174673914909363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2842918634414673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2819212079048157},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2250102460384369}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6962167620658875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6223642826080322},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5960639715194702},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5311666131019592},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4910776615142822},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4889277517795563},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.45855849981307983},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.44290992617607117},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3950749337673187},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3775801360607147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3174673914909363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2842918634414673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2819212079048157},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2250102460384369},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3282695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3282695","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10143636.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8fe014aba3234a8b80414254a60c0ca1","is_oa":true,"landing_page_url":"https://doaj.org/article/8fe014aba3234a8b80414254a60c0ca1","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 11, Pp 55442-55455 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3282695","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3282695","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10143636.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":null,"license_id":null,"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","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4379468179.pdf","grobid_xml":"https://content.openalex.org/works/W4379468179.grobid-xml"},"referenced_works_count":9,"referenced_works":["https://openalex.org/W1967414611","https://openalex.org/W2000359213","https://openalex.org/W2103120971","https://openalex.org/W2120875877","https://openalex.org/W2169528473","https://openalex.org/W2790044822","https://openalex.org/W2990207990","https://openalex.org/W4236470048","https://openalex.org/W6677785868"],"related_works":["https://openalex.org/W2375716328","https://openalex.org/W2122841745","https://openalex.org/W2034262042","https://openalex.org/W2131257292","https://openalex.org/W2980463973","https://openalex.org/W2912962943","https://openalex.org/W4317793352","https://openalex.org/W4309225961","https://openalex.org/W2756285265","https://openalex.org/W2098508993"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,31,104,116,121],"solve":[3],"the":[4,52,62,66,79,92,97,110,118,123,135,141,150,158,172,175,180,209,217,231,239,247,253,256,260],"problems":[5],"of":[6,13,41,56,68,143,183,202,211,259,275],"obstacle":[7,34,221,225,248,283],"avoidance":[8,99,226,249,284],"planning":[9,24,136,285],"and":[10,39,71,149,154,194,207,224,243,246,263,269,277],"trajectory":[11],"optimization":[12],"unmanned":[14],"platform":[15,187],"in":[16,198,234,286],"hilly":[17,168,235,287],"orchards,":[18],"this":[19],"paper":[20],"proposes":[21],"a":[22,84,167,191,199,219,272],"dynamic":[23,33,73,85,184,220,244],"algorithm":[25,176,227,254],"based":[26,60,77,90,237],"on":[27,61,78,91,166,213,238],"Gaussian":[28,80,173,240],"probability":[29,81,241],"model":[30,242],"predict":[32,179],"behavior.":[35],"The":[36,128,186],"technical":[37],"route":[38,197],"method":[40],"theoretical":[42],"derivation-algorithm":[43],"design-simulation":[44],"analysis-real":[45],"vehicle":[46],"testing":[47],"are":[48,75,101],"both":[49],"adopted.":[50],"Firstly,":[51],"global":[53],"reference":[54],"path":[55,124],"orchard":[57,169],"is":[58,88,114,152,164,228,289],"optimized":[59],"quadratic":[63],"programming.":[64],"Secondly,":[65],"intentions":[67],"surrounding":[69],"pedestrians":[70],"other":[72],"obstacles":[74,98,206],"estimated":[76],"model.":[82],"Subsequently,":[83],"grid":[86],"map":[87],"created":[89],"Frenet":[93],"coordinate":[94],"system.":[95],"Then,":[96],"paths":[100],"dynamically":[102],"planned":[103],"obtain":[105],"discrete":[106],"optimal":[107],"paths.":[108],"Finally,":[109],"quintic":[111],"polynomial":[112],"curve":[113,250],"utilized":[115],"connect":[117],"sampling":[119],"points":[120],"generate":[122],"with":[125,157],"continuous":[126,155],"curvature.":[127],"analysis":[129],"by":[130,139,147,252],"ROS/Rviz":[131],"simulation":[132],"indicates":[133],"that":[134],"time":[137],"decreases":[138,146],"57.97%,":[140],"number":[142],"sampled":[144],"nodes":[145],"79.57%,":[148],"curvature":[151],"smoother":[153],"compared":[156],"RRT":[159],"algorithm.":[160],"A":[161],"field":[162],"test":[163],"conducted":[165],"road.":[170],"With":[171],"model,":[174],"can":[177,188],"effectively":[178,204],"behavioral":[181],"state":[182],"obstacles.":[185],"autonomously":[189],"plan":[190],"continuous,":[192],"smooth":[193],"safe":[195],"driving":[196],"shorter":[200],"period":[201],"time,":[203],"avoiding":[205],"reducing":[208],"impact":[210],"steering-in-place":[212],"operating":[214],"efficiency.":[215],"Through":[216],"research,":[218],"behavior":[222],"prediction":[223],"proposed":[229],"for":[230,280],"crawler":[232,261],"chassis":[233],"orchards":[236,288],"programming,":[245],"obtained":[251],"satisfies":[255],"kinematic":[257],"constraints":[258],"chassis,":[262],"has":[264],"good":[265],"safety,":[266],"better":[267],"real-time":[268],"enforceability.":[270],"Additionally,":[271],"comprehensive":[273],"set":[274],"software":[276],"hardware":[278],"solutions":[279],"spontaneous":[281],"static":[282],"presented.":[290]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}