{"id":"https://openalex.org/W2942698216","doi":"https://doi.org/10.1109/iscas.2019.8702779","title":"Hybrid A\u2217 Based Motion Planning for Autonomous Vehicles in Unstructured Environment","display_name":"Hybrid A\u2217 Based Motion Planning for Autonomous Vehicles in Unstructured Environment","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2942698216","doi":"https://doi.org/10.1109/iscas.2019.8702779","mag":"2942698216"},"language":"en","primary_location":{"id":"doi:10.1109/iscas.2019.8702779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas.2019.8702779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Circuits and Systems (ISCAS)","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/A5030730522","display_name":"Kangbin Tu","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kangbin Tu","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109349565","display_name":"Shuaishuai Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaishuai Yang","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396911","display_name":"Hao Zhang","orcid":"https://orcid.org/0000-0002-4527-9610"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040673729","display_name":"Zhuping Wang","orcid":"https://orcid.org/0000-0002-0334-4082"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuping Wang","raw_affiliation_strings":["School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030730522"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.1012,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.40950403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"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":0.9904000163078308,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9901000261306763,"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/computer-science","display_name":"Computer science","score":0.6807677149772644},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5533775091171265},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46357136964797974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3473075032234192},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21605709195137024}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6807677149772644},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5533775091171265},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46357136964797974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3473075032234192},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21605709195137024}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iscas.2019.8702779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas.2019.8702779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Circuits and Systems (ISCAS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1140243306","https://openalex.org/W1969483458","https://openalex.org/W1996183429","https://openalex.org/W2003708116","https://openalex.org/W2028945152","https://openalex.org/W2035601288","https://openalex.org/W2120085204","https://openalex.org/W2294480821","https://openalex.org/W2306644740"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1,49],"require":[2],"a":[3,15,20,38,61,66,72],"collision-free":[4],"and":[5,27,65,95,101,116],"comfortable":[6],"motion":[7,42,81],"trajectory":[8],"at":[9],"every":[10],"time":[11],"instant.":[12],"It":[13],"is":[14,45,58,87,110],"common":[16],"method":[17,31],"to":[18,23,70,89,112,125],"generate":[19],"feasible":[21],"path":[22,33,93],"the":[24,54,91,104,127,130],"target":[25],"state":[26],"append":[28],"an":[29],"optimization-based":[30],"for":[32,47],"postprocessing.":[34],"In":[35],"this":[36],"paper":[37],"Hybrid":[39,55],"A*":[40,56],"based":[41],"planning":[43],"algorithm":[44,57,86],"presented":[46],"autonomous":[48],"under":[50],"unstructured":[51],"circumstances.":[52],"Firstly,":[53],"improved":[59],"with":[60],"better":[62,67],"heuristic":[63],"function":[64],"search":[68,76],"policy":[69],"realize":[71],"less-time":[73],"consuming":[74],"graph":[75],"in":[77],"consideration":[78],"of":[79,99,103,129],"vehicle's":[80],"model.":[82],"Then,":[83],"nonlinear":[84],"optimization":[85],"applied":[88],"optimize":[90],"generated":[92],"further":[94],"realizes":[96],"high":[97],"quality":[98],"security":[100],"smoothness":[102],"discrete":[105],"trajectory.":[106],"Finally,":[107],"Catmull-Rom":[108],"interpolation":[109],"combined":[111],"make":[113],"waypoints":[114],"continuous":[115],"easy-to-control.":[117],"Simulation":[118],"results":[119],"concerning":[120],"different":[121],"tasks":[122],"are":[123],"described":[124],"demonstrate":[126],"validity":[128],"proposed":[131],"algorithm.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-02-14T06:23:00.392402","created_date":"2025-10-10T00:00:00"}