{"id":"https://openalex.org/W1526050191","doi":"https://doi.org/10.1109/ccece.2015.7129363","title":"Path planning for autonomous underwater vehicle based on artificial potential field and velocity synthesis","display_name":"Path planning for autonomous underwater vehicle based on artificial potential field and velocity synthesis","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1526050191","doi":"https://doi.org/10.1109/ccece.2015.7129363","mag":"1526050191"},"language":"en","primary_location":{"id":"doi:10.1109/ccece.2015.7129363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece.2015.7129363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE)","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/A5067962490","display_name":"Chun-lei Cheng","orcid":"https://orcid.org/0000-0001-7972-6768"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunlei Cheng","raw_affiliation_strings":["Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002059219","display_name":"Daqi Zhu","orcid":"https://orcid.org/0000-0001-7252-4952"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqi Zhu","raw_affiliation_strings":["Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016085650","display_name":"Bing Sun","orcid":"https://orcid.org/0000-0002-1432-6349"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Sun","raw_affiliation_strings":["Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072690363","display_name":"Zhenzhong Chu","orcid":"https://orcid.org/0000-0002-0287-4727"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Chu","raw_affiliation_strings":["Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082674650","display_name":"Jianduo Nie","orcid":null},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianduo Nie","raw_affiliation_strings":["Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100394022","display_name":"Sheng Zhang","orcid":"https://orcid.org/0000-0002-6581-6399"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Zhang","raw_affiliation_strings":["Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab. of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"Lab of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, P. R. China","institution_ids":["https://openalex.org/I96733725"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I96733725"],"apc_list":null,"apc_paid":null,"fwci":1.0813,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.86428601,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"717","last_page":"721"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996399998664856,"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/motion-planning","display_name":"Motion planning","score":0.8206533789634705},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7724510431289673},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.6796722412109375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6094524264335632},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5759257674217224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.499234676361084},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4276280403137207},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.41749250888824463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3630183935165405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3419678211212158},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32689371705055237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27127039432525635},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10356631875038147},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08203136920928955}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8206533789634705},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7724510431289673},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.6796722412109375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6094524264335632},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5759257674217224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.499234676361084},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4276280403137207},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.41749250888824463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3630183935165405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3419678211212158},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32689371705055237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27127039432525635},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10356631875038147},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08203136920928955},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/ccece.2015.7129363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece.2015.7129363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.800000011920929,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1557513224","https://openalex.org/W1608481154","https://openalex.org/W1662326029","https://openalex.org/W1969142081","https://openalex.org/W2003188682","https://openalex.org/W2014804704","https://openalex.org/W2103120971","https://openalex.org/W2112724282","https://openalex.org/W2116160357","https://openalex.org/W2143728987","https://openalex.org/W2146500120","https://openalex.org/W2159328935","https://openalex.org/W2164313740","https://openalex.org/W2164443866","https://openalex.org/W2177415451","https://openalex.org/W2330782399","https://openalex.org/W6633215297"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W1965569281","https://openalex.org/W2062919732","https://openalex.org/W4324119413","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4282942842","https://openalex.org/W2161428574","https://openalex.org/W1972453571"],"abstract_inverted_index":{"Because":[0],"the":[1,15,25,63,73,88,93,101,105,124],"impact":[2,16],"of":[3,17,54,90,107],"ocean":[4,113],"current":[5,35,114],"on":[6,19],"Autonomous":[7],"Underwater":[8],"Vehicle":[9],"(AUV)":[10],"navigation":[11],"is":[12,24,59,79,97,118,127],"greater":[13],"than":[14],"wind":[18],"ground":[20,32],"mobile":[21],"robot,":[22],"there":[23],"essential":[26],"difference":[27],"between":[28],"underwater":[29,46],"environment":[30,115],"and":[31,36,67],"environment.":[33,47],"Ocean":[34],"obstacles":[37,83,117],"must":[38],"be":[39],"considered":[40],"for":[41,110],"AUV":[42,55,91,111],"path":[43,56,108],"planning":[44,57,109],"in":[45,112],"In":[48],"this":[49],"paper,":[50],"a":[51],"novel":[52],"kind":[53],"algorithm":[58,66,96,126],"proposed":[60,125],"by":[61],"combining":[62],"velocity":[64,94],"synthesis":[65,95],"artificial":[68,75],"potential":[69,76],"field":[70,77],"method.":[71],"Firstly,":[72],"improved":[74],"method":[78],"used":[80,98],"to":[81,87,99],"avoid":[82],"effectively.":[84],"Then":[85],"according":[86],"characteristics":[89],"navigation,":[92],"achieve":[100],"optimal":[102],"path.":[103],"Finally,":[104],"problem":[106],"with":[116],"solved.":[119],"Simulation":[120],"result":[121],"shows":[122],"that":[123],"effective.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}