{"id":"https://openalex.org/W4390204046","doi":"https://doi.org/10.1109/access.2023.3347399","title":"An Adaptive Path Planning Method for Curved Roads via Three-Dimensional Space-Aware Profiling Maps","display_name":"An Adaptive Path Planning Method for Curved Roads via Three-Dimensional Space-Aware Profiling Maps","publication_year":2023,"publication_date":"2023-12-25","ids":{"openalex":"https://openalex.org/W4390204046","doi":"https://doi.org/10.1109/access.2023.3347399"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3347399","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3347399","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10374113.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/ielx7/6287639/6514899/10374113.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101717261","display_name":"Jianyu Huang","orcid":"https://orcid.org/0009-0000-4368-3081"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jianyu Huang","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering (ISEE), Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0009-0000-4368-3081","affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering (ISEE), Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056183394","display_name":"Billy Dawton","orcid":"https://orcid.org/0000-0002-3132-4214"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Billy Dawton","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering (ISEE), Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering (ISEE), Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084986446","display_name":"Yutaka Arakawa","orcid":"https://orcid.org/0000-0002-7156-9160"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yutaka Arakawa","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering (ISEE), Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7156-9160","affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering (ISEE), Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4254,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63889524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"1458","last_page":"1473"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.987500011920929,"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/obstacle","display_name":"Obstacle","score":0.798486590385437},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7120579481124878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6852498650550842},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5575096011161804},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.522199809551239},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.49061790108680725},{"id":"https://openalex.org/keywords/profiling","display_name":"Profiling (computer programming)","score":0.4740062654018402},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.42870351672172546},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.42467015981674194},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39326101541519165},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2017284333705902},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16959139704704285},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1251337230205536},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0793161690235138}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.798486590385437},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7120579481124878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6852498650550842},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5575096011161804},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.522199809551239},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.49061790108680725},{"id":"https://openalex.org/C187191949","wikidata":"https://www.wikidata.org/wiki/Q1138496","display_name":"Profiling (computer programming)","level":2,"score":0.4740062654018402},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.42870351672172546},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.42467015981674194},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39326101541519165},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2017284333705902},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16959139704704285},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1251337230205536},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0793161690235138},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3347399","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3347399","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10374113.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:f16388f55930482c86e57c3a95688357","is_oa":true,"landing_page_url":"https://doaj.org/article/f16388f55930482c86e57c3a95688357","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 12, Pp 1458-1473 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3347399","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3347399","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10374113.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/9","score":0.6299999952316284,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320286","display_name":"University College London","ror":"https://ror.org/02jx3x895"},{"id":"https://openalex.org/F4320320325","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656"},{"id":"https://openalex.org/F4320320909","display_name":"Keio University","ror":"https://ror.org/02kn6nx58"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390204046.pdf","grobid_xml":"https://content.openalex.org/works/W4390204046.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W1140243306","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1977085960","https://openalex.org/W2000359213","https://openalex.org/W2032924574","https://openalex.org/W2065205124","https://openalex.org/W2113286054","https://openalex.org/W2137532462","https://openalex.org/W2141664020","https://openalex.org/W2154844948","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2524886531","https://openalex.org/W2588289902","https://openalex.org/W2606324808","https://openalex.org/W2782393959","https://openalex.org/W2789990415","https://openalex.org/W2806851394","https://openalex.org/W2884634491","https://openalex.org/W2898729230","https://openalex.org/W2911283711","https://openalex.org/W2912361519","https://openalex.org/W2938278435","https://openalex.org/W2946231253","https://openalex.org/W2970911366","https://openalex.org/W2972542009","https://openalex.org/W2995306872","https://openalex.org/W2995649812","https://openalex.org/W3005383506","https://openalex.org/W3090027660","https://openalex.org/W3091964200","https://openalex.org/W3110660569","https://openalex.org/W3118675683","https://openalex.org/W3134491489","https://openalex.org/W3197549605","https://openalex.org/W3210290940","https://openalex.org/W3215110309","https://openalex.org/W3217170181","https://openalex.org/W4206758614","https://openalex.org/W4210444794","https://openalex.org/W4210607981","https://openalex.org/W4236251699","https://openalex.org/W4285228542","https://openalex.org/W4312769831","https://openalex.org/W4313033508","https://openalex.org/W4319456385","https://openalex.org/W4376166839","https://openalex.org/W4384080778","https://openalex.org/W4386076400","https://openalex.org/W6696955428","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W2394276631","https://openalex.org/W3216096898","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W3139139461","https://openalex.org/W2056737145","https://openalex.org/W4297094037","https://openalex.org/W1660309994"],"abstract_inverted_index":{"In":[0,64],"modern":[1],"transportation,":[2],"autonomous":[3],"driving":[4],"technology":[5],"has":[6],"emerged":[7],"as":[8],"a":[9,69,77,89,138,161,173],"significant":[10],"innovation,":[11],"offering":[12],"improved":[13],"safety,":[14],"efficiency,":[15],"and":[16,41,51,55,124,157,172,211,228,234,250,252,261,271],"convenience.":[17],"One":[18],"of":[19,110,154,213,268],"its":[20],"core":[21],"technologies":[22],"is":[23,165,177,246,257],"path":[24,45,58,71,145,158,163,183,244],"planning,":[25],"which":[26],"creates":[27],"an":[28,83],"optimal":[29,187],"route":[30],"for":[31,230],"vehicles":[32],"in":[33,57,95,116,127,208,263],"various":[34],"traffic":[35,102],"situations,":[36],"ensuring":[37],"they":[38],"arrive":[39],"safely":[40],"efficiently.":[42],"However,":[43],"existing":[44],"planning":[46,72],"methods":[47],"suffer":[48],"from":[49,76,151],"inflexible":[50],"inefficient":[52],"road":[53],"sampling,":[54],"limitations":[56],"expression":[59],"due":[60],"to":[61,87,99,141,179,184,205,224],"curve":[62],"models.":[63],"this":[65],"paper,":[66],"we":[67],"introduce":[68,82],"novel":[70],"framework":[73],"that":[74,192],"operates":[75],"coarse-to-optimal":[78],"approach.":[79],"We":[80,135],"first":[81],"adaptive":[84,195],"sampling":[85,196,202,221],"method":[86,197],"construct":[88],"three-dimensional":[90],"(3D)":[91],"space-aware":[92],"profiling":[93],"map":[94,106],"the":[96,108,117,128,143,152,155,169,181,186,193,201,206,209,216,220,239,242,253,264,269],"Frenet":[97],"frame":[98],"quantify":[100],"abstract":[101],"scenarios.":[103,236],"This":[104],"cost":[105,125,139],"guides":[107],"generation":[109],"waypoints":[111],"by":[112,146,248,259],"incorporating":[113],"obstacle":[114],"distributions":[115],"<inline-formula":[118,129],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[119,130],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[120,131],"<tex-math":[121,132],"notation=\"LaTeX\">$s$":[122],"</tex-math></inline-formula>-direction":[123],"values":[126],"notation=\"LaTeX\">$l$":[133],"</tex-math></inline-formula>-direction.":[134],"then":[136],"design":[137],"function":[140],"obtain":[142],"coarse":[144,182],"considering":[147],"ride":[148],"comfort,":[149],"anti-deviation":[150],"center":[153],"road,":[156,217],"safety.":[159],"Finally,":[160],"new":[162],"model":[164],"re-established":[166],"based":[167],"on":[168,215],"Taylor":[170],"series,":[171],"quadratic":[174],"programming":[175],"approach":[176],"employed":[178],"fine-tune":[180],"attain":[185],"path.":[188],"Experimental":[189],"results":[190],"show":[191],"proposed":[194],"can":[198],"dynamically":[199],"adjust":[200],"strategy":[203],"according":[204],"change":[207],"number":[210],"distribution":[212],"obstacles":[214,267],"significantly":[218],"improving":[219],"effectiveness":[222],"rate":[223],"100%,":[225],"99.85%,":[226],"99.68%":[227],"99.61%":[229],"one-obstacle,":[231],"two-obstacle,":[232],"three-obstacle,":[233],"four-obstacle":[235],"Compared":[237],"with":[238,266],"conventional":[240],"method,":[241],"generated":[243],"length":[245],"shortened":[247],"3.48%":[249],"8.42%,":[251],"maximum":[254],"heading":[255],"angle":[256],"reduced":[258],"18.68%":[260],"30.21%":[262],"scenarios":[265],"same":[270],"different":[272],"sizes.":[273]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}