{"id":"https://openalex.org/W1993925905","doi":"https://doi.org/10.1109/icinfa.2014.6932751","title":"The obstacle avoidance planning of USV based on improved artificial potential field","display_name":"The obstacle avoidance planning of USV based on improved artificial potential field","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W1993925905","doi":"https://doi.org/10.1109/icinfa.2014.6932751","mag":"1993925905"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2014.6932751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2014.6932751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Information and Automation (ICIA)","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/A5086702173","display_name":"Shaorong Xie","orcid":"https://orcid.org/0000-0002-8016-9310"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaorong Xie","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering Shanghai University Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering Shanghai University Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030772308","display_name":"Peng Wu","orcid":"https://orcid.org/0000-0002-0584-8161"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wu","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering Shanghai University Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering Shanghai University Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772740","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-1312-9527"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Peng","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering Shanghai University Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering Shanghai University Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003071055","display_name":"Jun Luo","orcid":"https://orcid.org/0000-0003-4475-2338"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Luo","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering Shanghai University Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering Shanghai University Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070126956","display_name":"Dong Qu","orcid":"https://orcid.org/0009-0001-0960-7795"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Qu","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering Shanghai University Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering Shanghai University Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066685756","display_name":"Qingmei Li","orcid":"https://orcid.org/0000-0002-9684-9660"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingmei Li","raw_affiliation_strings":["Department of Mechatronic Engineering, Shanghai University, Shanghai, China","Department of Mechatronic Engineering Shanghai University Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronic Engineering, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Department of Mechatronic Engineering Shanghai University Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Dalhousie University, Halifax, Canada","Department of Electrical & Computer Engineering Dalhousie University, Halifax, NSB3H4R2, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Dalhousie University, Halifax, Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Department of Electrical & Computer Engineering Dalhousie University, Halifax, NSB3H4R2, Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"746","last_page":"751"},"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":0.9947999715805054,"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":0.9943000078201294,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.9014745950698853},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7902817726135254},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.7752597332000732},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6879838705062866},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6852318048477173},{"id":"https://openalex.org/keywords/precondition","display_name":"Precondition","score":0.6817710399627686},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.6063079237937927},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6041813492774963},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.564320981502533},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5186728239059448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4765247106552124},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35357666015625},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3531528115272522},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3472552001476288},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22302868962287903},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21827027201652527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20478913187980652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18638020753860474},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10643407702445984},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.07230409979820251}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.9014745950698853},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7902817726135254},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.7752597332000732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6879838705062866},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6852318048477173},{"id":"https://openalex.org/C192465680","wikidata":"https://www.wikidata.org/wiki/Q1413450","display_name":"Precondition","level":2,"score":0.6817710399627686},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.6063079237937927},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6041813492774963},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.564320981502533},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5186728239059448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4765247106552124},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35357666015625},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3531528115272522},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3472552001476288},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22302868962287903},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21827027201652527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20478913187980652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18638020753860474},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10643407702445984},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.07230409979820251},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/icinfa.2014.6932751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2014.6932751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W44114620","https://openalex.org/W1618175281","https://openalex.org/W1853298655","https://openalex.org/W1955308247","https://openalex.org/W1964168945","https://openalex.org/W1982442957","https://openalex.org/W2062593759","https://openalex.org/W2069830673","https://openalex.org/W2071129667","https://openalex.org/W2083513815","https://openalex.org/W2089402206","https://openalex.org/W2093820741","https://openalex.org/W2101502731","https://openalex.org/W2103120971","https://openalex.org/W2110144538","https://openalex.org/W2114302864","https://openalex.org/W2116423661","https://openalex.org/W2119559506","https://openalex.org/W2143469104","https://openalex.org/W2155983580","https://openalex.org/W2160728037","https://openalex.org/W2166992393","https://openalex.org/W2171331791","https://openalex.org/W2329629353","https://openalex.org/W2330213088","https://openalex.org/W2334373548","https://openalex.org/W2360065669"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W3161745314","https://openalex.org/W2975575631","https://openalex.org/W2898673639","https://openalex.org/W1993925905","https://openalex.org/W2787453464"],"abstract_inverted_index":{"The":[0,37],"autonomous":[1],"obstacle":[2,90],"avoidance":[3,19,91],"planning":[4,20,92],"of":[5,13,39,46,64,72,80,88,93],"USV":[6],"is":[7,21,51,103,111],"the":[8,11,16,44,59,70,89],"guarantee":[9],"and":[10,27,34,55,57,77,108],"precondition":[12],"carrying":[14],"out":[15],"performance.":[17],"Obstacle":[18],"required":[22],"to":[23,30,53],"possess":[24],"high":[25],"accuracy":[26,79],"instantaneity":[28],"due":[29],"a":[31,86],"complex":[32],"environment":[33],"faster":[35],"speed.":[36],"algorithm":[38],"Artificial":[40,66,100],"Potential":[41,67,101],"Field":[42,68,102],"has":[43,69],"advantage":[45],"sample":[47],"mathematical":[48],"model,":[49],"which":[50],"easy":[52],"understand":[54],"implement,":[56],"facilitate":[58],"underlying":[60],"control.":[61],"However,":[62],"application":[63],"traditional":[65],"problems":[71],"local":[73],"minimum,":[74],"destination":[75],"unreachable,":[76],"poor":[78],"algorithm.":[81],"Aiming":[82],"at":[83],"these":[84],"issues,":[85],"method":[87],"Unmanned":[94],"Surface":[95],"Vehicle":[96],"based":[97],"on":[98],"improved":[99],"proposed":[104],"in":[105],"this":[106],"article,":[107],"its":[109],"feasibility":[110],"demonstrated":[112],"using":[113],"MATLAB":[114],"simulation.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}