{"id":"https://openalex.org/W7087057209","doi":"https://doi.org/10.1109/access.2025.3620220","title":"Improved Artificial Potential Field Method for UAV Path Planning","display_name":"Improved Artificial Potential Field Method for UAV Path Planning","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7087057209","doi":"https://doi.org/10.1109/access.2025.3620220"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3620220","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3620220","pdf_url":null,"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://doi.org/10.1109/access.2025.3620220","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Qiang Han","orcid":"https://orcid.org/0000-0001-5646-3950"},"institutions":[{"id":"https://openalex.org/I4210131342","display_name":"Yibin University","ror":"https://ror.org/03w8m2977","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131342"]},{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Han","raw_affiliation_strings":["Intelligent Perception and Control Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":"https://orcid.org/0000-0001-5646-3950","affiliations":[{"raw_affiliation_string":"Intelligent Perception and Control Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I4210131342","https://openalex.org/I64852412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xingyuan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyuan Ma","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hanlin Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanlin Liu","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yibo Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibo Xu","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yunxiang Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunxiang Xie","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qianguo Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131342","display_name":"Yibin University","ror":"https://ror.org/03w8m2977","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131342"]},{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianguo Yang","raw_affiliation_strings":["Intelligent Perception and Control Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Perception and Control Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I4210131342","https://openalex.org/I64852412"]}]},{"author_position":"last","author":{"id":null,"display_name":"Fanqin Meng","orcid":"https://orcid.org/0000-0002-3571-6469"},"institutions":[{"id":"https://openalex.org/I4210131342","display_name":"Yibin University","ror":"https://ror.org/03w8m2977","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131342"]},{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanqin Meng","raw_affiliation_strings":["Intelligent Perception and Control Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":"https://orcid.org/0000-0002-3571-6469","affiliations":[{"raw_affiliation_string":"Intelligent Perception and Control Key Laboratory of Sichuan Province, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I4210131342","https://openalex.org/I64852412"]}]}],"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":5.0242,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95811951,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"13","issue":null,"first_page":"177537","last_page":"177547"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10120","display_name":"Bacterial Genetics and Biotechnology","score":0.4474000036716461,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10120","display_name":"Bacterial Genetics and Biotechnology","score":0.4474000036716461,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10432","display_name":"DNA and Nucleic Acid Chemistry","score":0.09369999915361404,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10123","display_name":"DNA Repair Mechanisms","score":0.07270000129938126,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.833899974822998},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7807999849319458},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7566999793052673},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.6144999861717224},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5202000141143799},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4449999928474426}],"concepts":[{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.833899974822998},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7807999849319458},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7566999793052673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6955000162124634},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6144999861717224},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5202000141143799},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4449999928474426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4101000130176544},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3555999994277954},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.351500004529953},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28850001096725464},{"id":"https://openalex.org/C70136482","wikidata":"https://www.wikidata.org/wiki/Q13583781","display_name":"A-weighting","level":3,"score":0.27469998598098755},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25769999623298645}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3620220","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3620220","pdf_url":null,"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:0d79c134816d465785c575fd1460a8a7","is_oa":true,"landing_page_url":"https://doaj.org/article/0d79c134816d465785c575fd1460a8a7","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 13, Pp 177537-177547 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3620220","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3620220","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G1503839571","display_name":null,"funder_award_id":"2025YFHZ0006","funder_id":"https://openalex.org/F4320322922","funder_display_name":"Department of Science and Technology of Sichuan Province"},{"id":"https://openalex.org/G2319243272","display_name":null,"funder_award_id":"2021ITA10002","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"},{"id":"https://openalex.org/G6661229022","display_name":null,"funder_award_id":"2025RCZ064","funder_id":"https://openalex.org/F4320322947","funder_display_name":"Sichuan University of Science and Engineering"},{"id":"https://openalex.org/G7623538889","display_name":null,"funder_award_id":"2021ITA10002","funder_id":"https://openalex.org/F4320336569","funder_display_name":"Shenzhen Science and Technology Innovation Program"}],"funders":[{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"},{"id":"https://openalex.org/F4320322922","display_name":"Department of Science and Technology of Sichuan Province","ror":"https://ror.org/04323m874"},{"id":"https://openalex.org/F4320322947","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23"},{"id":"https://openalex.org/F4320336569","display_name":"Shenzhen Science and Technology Innovation Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Path":[0],"planning":[1],"for":[2,11,21],"unmanned":[3],"aerial":[4],"vehicles":[5],"(UAVs)":[6],"is":[7],"a":[8,102],"core":[9],"technology":[10],"autonomous":[12],"navigation.":[13],"The":[14],"artificial":[15],"potential":[16],"field":[17],"(APF)":[18],"method,":[19,63],"known":[20],"its":[22,130],"computational":[23],"efficiency":[24],"and":[25,46,101,132],"strong":[26],"real-time":[27],"performance,":[28],"has":[29],"been":[30],"widely":[31],"applied.":[32],"However,":[33],"the":[34,79,114,117,122],"traditional":[35,125],"approach":[36],"suffers":[37],"from":[38,93],"three":[39,66],"inherent":[40],"defects:":[41],"target":[42,73],"unreachability,":[43],"local":[44,47,87,94],"minima,":[45],"path":[48,108],"oscillation.":[49],"To":[50],"address":[51,121],"these":[52],"issues,":[53],"this":[54],"paper":[55],"proposes":[56],"an":[57],"Improved":[58],"Artificial":[59],"Potential":[60],"Field":[61],"(IAPF)":[62],"innovatively":[64],"incorporating":[65],"types":[67],"of":[68,116],"optimization":[69],"mechanisms:":[70],"1)":[71],"A":[72,86,97],"point":[74],"distance-weighted":[75],"function":[76],"to":[77,90,106,120],"reconstruct":[78],"repulsive":[80],"field,":[81],"ensuring":[82],"terminal":[83],"convergence;":[84],"2)":[85],"exploration":[88],"factor":[89,100],"achieve":[91],"escape":[92],"minima;":[95],"3)":[96],"directional":[98],"weighting":[99],"forward-looking":[103],"decision-making":[104],"mechanism":[105],"suppress":[107],"oscillations.":[109],"Moreover,":[110],"experiments":[111],"have":[112],"demonstrated":[113],"ability":[115],"proposed":[118],"algorithm":[119],"issues":[123],"in":[124,134],"APF,":[126],"as":[127,129],"well":[128],"robustness":[131],"superiority":[133],"complex":[135],"three-dimensional":[136],"environments.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}