{"id":"https://openalex.org/W3108130142","doi":"https://doi.org/10.1109/icca51439.2020.9264455","title":"Design of Autonomous Navigation System for Quadrotor in Subway Tunnel","display_name":"Design of Autonomous Navigation System for Quadrotor in Subway Tunnel","publication_year":2020,"publication_date":"2020-10-09","ids":{"openalex":"https://openalex.org/W3108130142","doi":"https://doi.org/10.1109/icca51439.2020.9264455","mag":"3108130142"},"language":"en","primary_location":{"id":"doi:10.1109/icca51439.2020.9264455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca51439.2020.9264455","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Control &amp; Automation (ICCA)","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/A5101746685","display_name":"Yan Zhou","orcid":"https://orcid.org/0000-0002-3311-3437"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yan ZHOU","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071657969","display_name":"Chenxiao Cai","orcid":"https://orcid.org/0000-0003-0639-4437"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxiao CAI","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009251983","display_name":"Juan Yao","orcid":"https://orcid.org/0000-0002-7585-943X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juan YAO","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101796129","display_name":"Yun Zou","orcid":"https://orcid.org/0000-0003-3015-2614"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun ZOU","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I4210145820","display_name":"Guangzhou Metro Group (China)","ror":"https://ror.org/04gfyef21","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210145820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi YANG","raw_affiliation_strings":["Guangzhou metro group co. LTD, Guangzhou Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou metro group co. LTD, Guangzhou Guangdong, China","institution_ids":["https://openalex.org/I4210145820"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101746685"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":0.0977,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42034684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"187","last_page":"192"},"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":0.9983999729156494,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9810000061988831,"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/computer-science","display_name":"Computer science","score":0.6159966588020325},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6025477051734924},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.521420955657959},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5186261534690857},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44882023334503174},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4224978983402252},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.421102374792099},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4129631221294403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36790013313293457},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35107725858688354},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3298724293708801},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1742539405822754},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1491784155368805},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11221292614936829},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10140365362167358}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6159966588020325},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6025477051734924},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.521420955657959},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5186261534690857},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44882023334503174},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4224978983402252},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.421102374792099},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4129631221294403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36790013313293457},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35107725858688354},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3298724293708801},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1742539405822754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1491784155368805},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11221292614936829},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10140365362167358},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca51439.2020.9264455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca51439.2020.9264455","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Control &amp; Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1967740178","https://openalex.org/W1971086298","https://openalex.org/W2103120971","https://openalex.org/W2164203504","https://openalex.org/W2325423652","https://openalex.org/W2573269332","https://openalex.org/W2736982822","https://openalex.org/W2818600118","https://openalex.org/W2892076060","https://openalex.org/W2957707960","https://openalex.org/W2980530691","https://openalex.org/W3104753760"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W1991478428","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W2118356379"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,44,63,68,97,122,154,164,167,171,174],"subway":[3,64],"tunnel":[4],"environment":[5],"with":[6,32,81,153],"weak":[7],"light":[8],"and":[9,26,50,85,109,131,170],"no":[10],"GPS":[11],"signal,":[12],"we":[13,35,116,136,158],"build":[14],"a":[15,38],"hardware":[16],"platform":[17],"of":[18,62,71,99,106,166,173,176],"quadrotor":[19],"based":[20,42],"on":[21,43],"lidar,":[22],"airborne":[23],"upper":[24],"computer":[25],"bottom":[27],"flight":[28],"control":[29],"board.":[30],"Combined":[31],"HectorSLAM":[33],"technology,":[34],"also":[36],"design":[37,175],"route":[39,124],"planning":[40,70,113],"algorithm":[41,77],"improved":[45,76,168],"Rapidly-exploring":[46,78],"Random":[47,79],"Tree":[48,80],"(RRT)":[49],"Artificial":[51],"Potential":[52],"Field":[53],"Method":[54],"(APF),":[55],"in":[56,145],"order":[57,146],"to":[58,95,120,141,147,162],"realize":[59,148],"intelligent":[60],"inspection":[61],"tunnel.":[65],"Firstly,":[66],"for":[67],"path":[69,112],"large":[72],"scene":[73],"map,":[74],"an":[75],"Regression":[82],"Filtering":[83],"Mechanism":[84],"Trunk":[86],"Constraint":[87],"(ReT-RRT":[88],"<sup":[89,128],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[90,129],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>":[91,130],")":[92],"is":[93],"proposed":[94],"reduce":[96],"scope":[98],"invalid":[100],"search":[101,105],"space,":[102],"avoid":[103],"excessive":[104],"explored":[107],"areas":[108],"effectively":[110],"save":[111],"time.":[114],"Secondly,":[115],"use":[117],"cubic":[118],"B-spline":[119],"optimize":[121],"planned":[123,155],"generated":[125],"by":[126],"ReT-RRT":[127],"improve":[132,142],"tracking":[133],"accuracy.":[134],"Thirdly,":[135],"introduce":[137],"`route":[138],"point'":[139],"gravity":[140],"traditional":[143],"APF,":[144],"online":[149],"obstacle":[150],"avoidance":[151],"combined":[152],"route.":[156],"Finally,":[157],"carry":[159],"out":[160],"experiments":[161],"verify":[163],"effectiveness":[165],"methods":[169],"feasibility":[172],"autonomous":[177],"navigation":[178],"system.":[179]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}