{"id":"https://openalex.org/W4389961162","doi":"https://doi.org/10.1109/access.2023.3344578","title":"Real-Time Local Obstacle Avoidance and Trajectory Tracking Control of Quadrotor UAVs With Suspended Payload in Complex Environments","display_name":"Real-Time Local Obstacle Avoidance and Trajectory Tracking Control of Quadrotor UAVs With Suspended Payload in Complex Environments","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4389961162","doi":"https://doi.org/10.1109/access.2023.3344578"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3344578","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3344578","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10366270.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/ielx7/6287639/6514899/10366270.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072775240","display_name":"Z.-J. Zhang","orcid":"https://orcid.org/0009-0004-4816-7261"},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyou Zhang","raw_affiliation_strings":["School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0009-0004-4816-7261","affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China","institution_ids":["https://openalex.org/I44468530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101914208","display_name":"Dong Zhang","orcid":"https://orcid.org/0000-0002-9563-8415"},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Zhang","raw_affiliation_strings":["School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0002-9563-8415","affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China","institution_ids":["https://openalex.org/I44468530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023601252","display_name":"Dezhi Kong","orcid":"https://orcid.org/0000-0002-0801-2730"},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dezhi Kong","raw_affiliation_strings":["School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China","institution_ids":["https://openalex.org/I44468530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067186570","display_name":"Yanqian Wang","orcid":"https://orcid.org/0000-0003-1046-7395"},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanqian Wang","raw_affiliation_strings":["School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0003-1046-7395","affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, Qingdao University of Technology, Qingdao, China","institution_ids":["https://openalex.org/I44468530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44468530"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5555,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69046906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"144017","last_page":"144029"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9927999973297119,"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/payload","display_name":"Payload (computing)","score":0.9329758882522583},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7234652042388916},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7216755747795105},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6182340383529663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6112962961196899},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4820076525211334},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.47454890608787537},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.367278516292572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28287070989608765},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19052982330322266},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.1729786992073059},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16438990831375122},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12498912215232849},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11563032865524292},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09364140033721924}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9329758882522583},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7234652042388916},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7216755747795105},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6182340383529663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6112962961196899},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4820076525211334},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.47454890608787537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.367278516292572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28287070989608765},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19052982330322266},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.1729786992073059},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16438990831375122},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12498912215232849},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11563032865524292},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09364140033721924},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3344578","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3344578","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10366270.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:f2cd18ab45f24106baba9c8ac7b6c494","is_oa":true,"landing_page_url":"https://doaj.org/article/f2cd18ab45f24106baba9c8ac7b6c494","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 144017-144029 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3344578","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3344578","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10366270.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":[{"id":"https://metadata.un.org/sdg/11","score":0.5400000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310847","display_name":"University of South Florida","ror":"https://ror.org/032db5x82"},{"id":"https://openalex.org/F4320311026","display_name":"Shandong University","ror":"https://ror.org/0207yh398"},{"id":"https://openalex.org/F4320323191","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62"},{"id":"https://openalex.org/F4320324852","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760"},{"id":"https://openalex.org/F4320324977","display_name":"Shaanxi University of Science and Technology","ror":"https://ror.org/034t3zs45"},{"id":"https://openalex.org/F4320326964","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389961162.pdf","grobid_xml":"https://content.openalex.org/works/W4389961162.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1912829551","https://openalex.org/W1970276631","https://openalex.org/W2020596437","https://openalex.org/W2029578340","https://openalex.org/W2079976883","https://openalex.org/W2103120971","https://openalex.org/W2111216404","https://openalex.org/W2291994225","https://openalex.org/W2410708347","https://openalex.org/W2559835363","https://openalex.org/W2785893832","https://openalex.org/W2807112464","https://openalex.org/W2897145192","https://openalex.org/W2897742994","https://openalex.org/W2912909188","https://openalex.org/W2914859139","https://openalex.org/W2944038841","https://openalex.org/W2947082796","https://openalex.org/W2953328538","https://openalex.org/W2964257895","https://openalex.org/W2991647028","https://openalex.org/W2997968073","https://openalex.org/W3017267978","https://openalex.org/W3096281466","https://openalex.org/W3109577527","https://openalex.org/W3110681078","https://openalex.org/W3182306612","https://openalex.org/W3196109947","https://openalex.org/W3202306395","https://openalex.org/W3203830640","https://openalex.org/W3207177801","https://openalex.org/W4205954621","https://openalex.org/W4281671899","https://openalex.org/W4303645072","https://openalex.org/W4312840277","https://openalex.org/W4319978806","https://openalex.org/W6755377392"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W3170845014","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Compared":[0],"with":[1,43,52],"traditional":[2,111],"vehicle":[3],"transportation":[4],"methods,":[5],"unmanned":[6],"aerial":[7],"vehicles":[8],"(UAVs)":[9],"have":[10],"many":[11],"advantages":[12],"in":[13,83],"transporting":[14],"cargo":[15],"because":[16],"they":[17],"are":[18],"not":[19],"limited":[20],"by":[21,81],"factors":[22],"such":[23],"as":[24,117],"road":[25],"traffic.":[26],"To":[27],"address":[28],"practical":[29],"applications,":[30],"this":[31],"paper":[32],"presents":[33],"a":[34,120,126,153],"local":[35,176],"obstacle":[36,94,123,177],"avoidance":[37,95,178],"control":[38,128,181],"scheme":[39,129],"for":[40,49,137],"the":[41,59,64,74,84,87,91,98,110,138,160,163,169,174],"quadrotor":[42],"suspended":[44],"payload,":[45,92],"which":[46],"is":[47,67,101,106,135,156],"suitable":[48],"complex":[50],"environments":[51],"dense":[53],"obstacles":[54],"and":[55,103,171,180],"external":[56,144],"disturbances.":[57,145],"Firstly,":[58],"overall":[60],"dynamic":[61],"model":[62],"of":[63,86,90,97,162,173],"quadrotor-payload":[65,99,139],"system":[66,100,140],"established":[68],"using":[69],"Euler-Lagrange":[70],"equations.":[71],"Secondly,":[72],"considering":[73],"envelope":[75],"circle":[76],"radius":[77],"switching":[78],"problem":[79],"caused":[80],"changes":[82],"amplitude":[85],"swing":[88,161],"angles":[89],"an":[93,104],"constraint":[96],"presented,":[102],"R-function":[105],"introduced":[107],"to":[108,118,147,158],"improve":[109],"artificial":[112],"potential":[113],"field":[114],"method,":[115],"so":[116],"achieve":[119],"less":[121],"conservative":[122],"avoidance.":[124],"Thirdly,":[125],"cascade":[127],"based":[130],"on":[131],"sliding":[132],"mode":[133],"algorithm":[134],"designed":[136,157],"trajectory":[141],"tracking":[142],"under":[143],"Moreover,":[146],"avoid":[148],"payload":[149],"oscillations":[150],"during":[151],"flight,":[152],"feed-forward":[154],"controller":[155],"suppress":[159],"payload.":[164],"Finally,":[165],"simulation":[166],"results":[167],"verify":[168],"effectiveness":[170],"superiority":[172],"proposed":[175],"strategy":[179],"scheme.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}