{"id":"https://openalex.org/W4385656165","doi":"https://doi.org/10.1109/cacre58689.2023.10208636","title":"Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions","display_name":"Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions","publication_year":2023,"publication_date":"2023-07-01","ids":{"openalex":"https://openalex.org/W4385656165","doi":"https://doi.org/10.1109/cacre58689.2023.10208636"},"language":"en","primary_location":{"id":"doi:10.1109/cacre58689.2023.10208636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre58689.2023.10208636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112976309","display_name":"Yihe Li","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihe Li","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouhua Peng","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396549","display_name":"Lu Liu","orcid":"https://orcid.org/0000-0003-2741-2542"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Liu","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100775993","display_name":"Haoliang Wang","orcid":"https://orcid.org/0000-0003-4222-9893"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoliang Wang","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025111505","display_name":"Nan Gu","orcid":"https://orcid.org/0000-0002-2214-9928"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Gu","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049907432","display_name":"Anqing Wang","orcid":"https://orcid.org/0000-0003-3539-2959"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anqing Wang","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101593329","display_name":"Dan Wang","orcid":"https://orcid.org/0000-0002-4099-6004"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Wang","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"203","last_page":"208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9983000159263611,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.98089998960495,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.7773244380950928},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7291296720504761},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6086133718490601},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5899848937988281},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5590422749519348},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5349346995353699},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43683740496635437},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4340957999229431},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25028130412101746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15323275327682495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14452466368675232}],"concepts":[{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7773244380950928},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7291296720504761},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6086133718490601},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5899848937988281},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5590422749519348},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5349346995353699},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43683740496635437},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4340957999229431},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25028130412101746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15323275327682495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14452466368675232},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacre58689.2023.10208636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre58689.2023.10208636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6299999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327404","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53"},{"id":"https://openalex.org/F4320329895","display_name":"Liaoning Revitalization Talents Program","ror":null},{"id":"https://openalex.org/F4320334111","display_name":"Innovation Fund","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2069710460","https://openalex.org/W2113256452","https://openalex.org/W2164340816","https://openalex.org/W2165216595","https://openalex.org/W2237479629","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2492811885","https://openalex.org/W2901325952","https://openalex.org/W2956608979","https://openalex.org/W3013773102","https://openalex.org/W3037669777","https://openalex.org/W3098016199","https://openalex.org/W3102121895","https://openalex.org/W3166078487","https://openalex.org/W3182505022"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2863424594","https://openalex.org/W2359600231","https://openalex.org/W2372633663","https://openalex.org/W2380019117","https://openalex.org/W1660309994","https://openalex.org/W2118356379"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,44],"maritime":[4],"path":[5,45,54],"planning":[6,72],"algorithm":[7,16,25,85,88,98,110],"for":[8,17],"autonomous":[9],"surface":[10],"vehicles":[11],"(ASVs).":[12],"A":[13],"improved":[14],"RRT":[15,93],"generating":[18],"sample":[19],"nodes":[20],"is":[21,68,74,80,99],"proposed.":[22],"The":[23],"HOCBF-RRT":[24,84,97],"leverages":[26],"high":[27],"order":[28],"control":[29,58],"barrier":[30],"functions":[31,60],"(HOCBFs)":[32],"to":[33,51,64,101],"take":[34],"into":[35],"account":[36],"the":[37,40,53,62,65,71,83,96,103,108,113,116,120],"dynamics":[38],"of":[39,105,115],"ASV":[41],"and":[42,70,86],"produce":[43],"that":[46,82],"prioritizes":[47],"safety.":[48],"In":[49,76],"addition,":[50],"complete":[52],"optimization,":[55],"combined":[56],"with":[57],"Lyapunov":[59],"(CLFs),":[61],"expansion":[63,114],"target":[66,121],"point":[67],"accelerated":[69],"time":[73],"reduced.":[75],"simulation":[77],"experiments,":[78],"it":[79],"observed":[81],"HOCBF-CLF-RRT":[87,109],"offer":[89],"improvements":[90],"over":[91],"traditional":[92],"algorithms.":[94],"Specifically,":[95],"found":[100],"enhance":[102],"smoothness":[104],"paths,":[106],"while":[107],"effectively":[111],"optimizes":[112],"random":[117],"tree":[118],"towards":[119],"point.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
