{"id":"https://openalex.org/W3020053811","doi":"https://doi.org/10.1109/iccais46528.2019.9074677","title":"An Automatic Driving Algorithm for Outdoor Wheeled Unmanned Vehicle","display_name":"An Automatic Driving Algorithm for Outdoor Wheeled Unmanned Vehicle","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3020053811","doi":"https://doi.org/10.1109/iccais46528.2019.9074677","mag":"3020053811"},"language":"en","primary_location":{"id":"doi:10.1109/iccais46528.2019.9074677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais46528.2019.9074677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Control, Automation and Information Sciences (ICCAIS)","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/A5100692867","display_name":"Ping Wu","orcid":"https://orcid.org/0000-0002-0788-6268"},"institutions":[{"id":"https://openalex.org/I68581759","display_name":"China Academy of Launch Vehicle Technology","ror":"https://ror.org/012z62f48","country_code":"CN","type":"facility","lineage":["https://openalex.org/I68581759"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ping Wu","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000355665","display_name":"Zhihong Dou","orcid":null},"institutions":[{"id":"https://openalex.org/I68581759","display_name":"China Academy of Launch Vehicle Technology","ror":"https://ror.org/012z62f48","country_code":"CN","type":"facility","lineage":["https://openalex.org/I68581759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihong Dou","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030050952","display_name":"Mengnan Cui","orcid":"https://orcid.org/0000-0001-6910-2142"},"institutions":[{"id":"https://openalex.org/I68581759","display_name":"China Academy of Launch Vehicle Technology","ror":"https://ror.org/012z62f48","country_code":"CN","type":"facility","lineage":["https://openalex.org/I68581759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengnan Cui","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100458893","display_name":"Hao Liu","orcid":"https://orcid.org/0000-0003-3769-4803"},"institutions":[{"id":"https://openalex.org/I68581759","display_name":"China Academy of Launch Vehicle Technology","ror":"https://ror.org/012z62f48","country_code":"CN","type":"facility","lineage":["https://openalex.org/I68581759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liu","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091778095","display_name":"Zhichao Niu","orcid":"https://orcid.org/0000-0001-9456-252X"},"institutions":[{"id":"https://openalex.org/I68581759","display_name":"China Academy of Launch Vehicle Technology","ror":"https://ror.org/012z62f48","country_code":"CN","type":"facility","lineage":["https://openalex.org/I68581759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhichao Niu","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080469591","display_name":"Gangjun Liu","orcid":"https://orcid.org/0000-0002-4994-0971"},"institutions":[{"id":"https://openalex.org/I68581759","display_name":"China Academy of Launch Vehicle Technology","ror":"https://ror.org/012z62f48","country_code":"CN","type":"facility","lineage":["https://openalex.org/I68581759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gangjun Liu","raw_affiliation_strings":["Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Aerospace Automatic Control Institute, China Academy of Launch Vehicle Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100692867"],"corresponding_institution_ids":["https://openalex.org/I68581759"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.12573502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"135","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.8162966966629028},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6930040121078491},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.631716787815094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6306793689727783},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5774113535881042},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5158669352531433},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5096144676208496},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4260433614253998},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4170971214771271},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3774808645248413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36816543340682983},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3368847966194153},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.25317448377609253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2529963254928589},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.1542707085609436},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.10801443457603455},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10349789261817932}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.8162966966629028},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6930040121078491},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.631716787815094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6306793689727783},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5774113535881042},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5158669352531433},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5096144676208496},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4260433614253998},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4170971214771271},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3774808645248413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36816543340682983},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3368847966194153},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.25317448377609253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2529963254928589},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.1542707085609436},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.10801443457603455},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10349789261817932},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccais46528.2019.9074677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais46528.2019.9074677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Control, Automation and Information Sciences (ICCAIS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1980890289","https://openalex.org/W2054091988","https://openalex.org/W2062294515","https://openalex.org/W2116484457","https://openalex.org/W2121806728","https://openalex.org/W2363637015","https://openalex.org/W2406067508","https://openalex.org/W2751074709","https://openalex.org/W2754582583","https://openalex.org/W2887157337"],"related_works":["https://openalex.org/W2038430283","https://openalex.org/W2952426663","https://openalex.org/W2346939607","https://openalex.org/W2990396425","https://openalex.org/W4309766231","https://openalex.org/W4205459552","https://openalex.org/W3005570398","https://openalex.org/W3005892436","https://openalex.org/W2356818805","https://openalex.org/W1982044840"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,78,102],"satisfy":[3],"the":[4,50,58,65,74,79,85,90,96,104,116,119,137,140],"requirement":[5],"of":[6,9,18,89,118,139],"automatic":[7,14,142],"driving":[8,15,143],"outdoor":[10,134],"unmanned":[11,71],"vehicle,":[12],"an":[13],"algorithm":[16,56,94,122],"composed":[17],"integrated":[19,27,120],"navigation":[20,28,121],"and":[21,37,63,67,73,84],"guidance":[22,54],"control":[23,55],"is":[24,31,39,126],"proposed.":[25],"The":[26,53,93,110,133],"algorithm,":[29],"which":[30],"fused":[32],"with":[33,44],"IMU,":[34],"GNSS":[35],"receiver":[36],"odometer,":[38],"designed":[40],"based":[41,123,130],"on":[42,124,131],"SCKF":[43,125],"second-order":[45],"fixed":[46],"nonlinear":[47],"expansion":[48],"as":[49],"measurement":[51],"model.":[52],"divides":[57],"expected":[59],"route":[60,76,105],"into":[61],"segments":[62],"calculates":[64],"lateral":[66],"angular":[68],"deviation":[69,97],"between":[70],"vehicle":[72],"segmented":[75],"according":[77],"longitude,":[80],"latitude,":[81],"heading":[82],"angle":[83],"key":[86],"points":[87],"sequence":[88],"electronic":[91],"map.":[92],"eliminates":[95],"by":[98,108],"incremental":[99],"PID":[100],"controller":[101],"realize":[103],"tracking":[106],"segment":[107],"segment.":[109],"simulation":[111],"experiment":[112,135],"results":[113],"show":[114],"that":[115,129],"accuracy":[117],"better":[127],"than":[128],"SKF.":[132],"verifies":[136],"effectiveness":[138],"proposed":[141],"algorithm.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
