{"id":"https://openalex.org/W3202637829","doi":"https://doi.org/10.1109/case49439.2021.9551443","title":"Efficient 3D Path Planning for Underwater Vehicle Based on Non-Uniformly Modeling","display_name":"Efficient 3D Path Planning for Underwater Vehicle Based on Non-Uniformly Modeling","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3202637829","doi":"https://doi.org/10.1109/case49439.2021.9551443","mag":"3202637829"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","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/A5051282270","display_name":"Kaihui Wang","orcid":"https://orcid.org/0000-0001-8898-8989"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kaihui Wang","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Science, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083196361","display_name":"Hu Su","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hu Su","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108286207","display_name":"Wei Zou","orcid":"https://orcid.org/0000-0003-4215-5361"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zou","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Science, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022867743","display_name":"Hongxuan Ma","orcid":"https://orcid.org/0000-0001-6422-1441"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxuan Ma","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101946575","display_name":"Chi Zhang","orcid":"https://orcid.org/0000-0002-1097-7101"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Zhang","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100684187","display_name":"Zhiqing Wang","orcid":"https://orcid.org/0000-0001-9009-9785"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqing Wang","raw_affiliation_strings":["Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5051282270"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.0961,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.39995098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1148","last_page":"1154"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9951000213623047,"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/motion-planning","display_name":"Motion planning","score":0.8028185367584229},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.7418820858001709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6943609714508057},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6416031122207642},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6192635297775269},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5653575658798218},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5622529983520508},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5523043870925903},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.526689887046814},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.47410115599632263},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4713054597377777},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3488132059574127},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34368714690208435},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3311689794063568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2544156014919281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22102409601211548},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14967384934425354}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8028185367584229},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.7418820858001709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6943609714508057},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6416031122207642},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6192635297775269},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5653575658798218},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5622529983520508},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5523043870925903},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.526689887046814},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.47410115599632263},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4713054597377777},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3488132059574127},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34368714690208435},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3311689794063568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2544156014919281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22102409601211548},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14967384934425354},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/case49439.2021.9551443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4567103383","display_name":null,"funder_award_id":"61773374,61702323","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6125705725","display_name":null,"funder_award_id":"2018YFB1306303","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7559841845","display_name":null,"funder_award_id":"ZR2019ZD07","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1535948966","https://openalex.org/W1673310716","https://openalex.org/W1952157068","https://openalex.org/W1969483458","https://openalex.org/W2054775725","https://openalex.org/W2074954154","https://openalex.org/W2113023534","https://openalex.org/W2120248849","https://openalex.org/W2133844819","https://openalex.org/W2306644740","https://openalex.org/W2967333821","https://openalex.org/W2997139301","https://openalex.org/W3090077032","https://openalex.org/W3090366486","https://openalex.org/W3090480996"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2776826689","https://openalex.org/W2348653124","https://openalex.org/W2032198329","https://openalex.org/W2089908184","https://openalex.org/W2392270594","https://openalex.org/W2773541276","https://openalex.org/W2156453104","https://openalex.org/W1620863146","https://openalex.org/W2383775285"],"abstract_inverted_index":{"The":[0,70,141,154,179],"paper":[1],"focuses":[2],"on":[3,159],"the":[4,11,45,57,103,139,149,186],"problem":[5],"of":[6,105,188],"3D":[7,173],"path":[8,28,113,143],"planning":[9,29],"for":[10],"underwater":[12,106,163,189],"vehicle":[13,107,150],"in":[14,56,185],"an":[15,94],"environment":[16,25,47,71],"with":[17,125,175],"obstacles.":[18],"An":[19],"efficient":[20,169],"framework":[21],"is":[22,41,99,135,157],"presented":[23],"where":[24],"modelling":[26,72],"and":[27,61,129,147,161],"are":[30,59,62,119,122],"effectively":[31],"performed":[32],"to":[33,43,65,79,85,108,137,167,170],"obtain":[34,109],"a":[35,126,131],"optimized":[36,124],"feasible":[37,111,172],"path.":[38],"Firstly,":[39],"octree":[40],"adopted":[42,136],"divide":[44],"spatial":[46],"into":[48],"grids":[49,55],"non-uniformly.":[50],"Hierarchical":[51],"distances":[52],"between":[53],"adjacent":[54,68],"tree":[58],"deduced":[60],"then":[63],"used":[64],"determine":[66],"grid":[67],"relationship.":[69],"method":[73],"would":[74],"be":[75,168],"helpful":[76],"not":[77],"only":[78],"reduce":[80],"memory":[81],"consumption":[82],"but":[83],"also":[84],"improve":[86],"computational":[87],"efficiency":[88],"while":[89],"maintaining":[90],"modeling":[91],"accuracy.":[92],"Consequently,":[93],"improved":[95],"heuristic":[96],"search":[97],"strategy":[98,128],"proposed":[100,155],"by":[101],"considering":[102],"features":[104],"more":[110],"intermediate":[112,117],"points.":[114,140],"Once":[115],"all":[116],"points":[118],"determined,":[120],"they":[121],"globally":[123],"correction":[127],"then,":[130],"cubic":[132],"bezier":[133],"curve":[134],"smooth":[138],"resulting":[142],"satisfies":[144],"nonholonomic":[145],"constraints":[146],"makes":[148],"avoid":[151],"obstacles":[152],"autonomously.":[153],"approach":[156,180],"tested":[158],"simulation":[160],"realistic":[162],"terrain":[164],"scenes,":[165],"proven":[166],"generate":[171],"trajectories":[174],"high":[176],"real-time":[177],"performance.":[178],"has":[181],"important":[182],"application":[183],"value":[184],"guidance":[187],"vehicle.":[190]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
