{"id":"https://openalex.org/W2990716932","doi":"https://doi.org/10.1109/itsc.2019.8917191","title":"Unmanned Vehicle Path Planning for Unknown Off-road Environments with Sparse Waypoints","display_name":"Unmanned Vehicle Path Planning for Unknown Off-road Environments with Sparse Waypoints","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2990716932","doi":"https://doi.org/10.1109/itsc.2019.8917191","mag":"2990716932"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8917191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","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/A5102961477","display_name":"Lei Yang","orcid":"https://orcid.org/0000-0002-1083-1161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Yang","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100665612","display_name":"Jianwei Gong","orcid":"https://orcid.org/0000-0003-4651-8473"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Gong","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024222994","display_name":"Guangming Xiong","orcid":"https://orcid.org/0000-0002-0914-1112"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xiong","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tian Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tian Yang","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045531795","display_name":"Mengze Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengze Wu","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100394056","display_name":"Sheng Zhang","orcid":"https://orcid.org/0009-0005-7727-0097"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Zhang","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9947999715805054,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9934999942779541,"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/motion-planning","display_name":"Motion planning","score":0.6660028696060181},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6174910068511963},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49430179595947266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36001408100128174},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35427752137184143},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15806719660758972},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11161190271377563}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6660028696060181},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6174910068511963},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49430179595947266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36001408100128174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35427752137184143},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15806719660758972},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11161190271377563}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2019.8917191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2032325911","https://openalex.org/W2057694648","https://openalex.org/W2099593662","https://openalex.org/W2113029345","https://openalex.org/W2113256452","https://openalex.org/W2124348791","https://openalex.org/W2136445059","https://openalex.org/W2611972117","https://openalex.org/W2796447411","https://openalex.org/W2806851394","https://openalex.org/W2884233967","https://openalex.org/W2889923199","https://openalex.org/W2963428623","https://openalex.org/W4388475847","https://openalex.org/W6750185400","https://openalex.org/W6753807494"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747","https://openalex.org/W2170022336"],"abstract_inverted_index":{"Unmanned":[0],"vehicles":[1,27,205,222],"in":[2,24,48,59,78,105,121],"urban":[3],"structured":[4],"environments":[5,80],"have":[6],"become":[7],"the":[8,16,60,102,117,158,165,179,195,201],"main":[9],"battlefields":[10],"of":[11,56,86,160,183,188],"related":[12],"companies":[13],"all":[14],"over":[15],"world.":[17],"By":[18],"relying":[19],"on":[20],"high-precision":[21,46],"maps":[22,47],"established":[23],"advance,":[25,49],"unmanned":[26,204,221],"can":[28,198],"perform":[29],"well":[30],"enough.":[31],"However,":[32],"this":[33,63,87],"method":[34,74,154,197],"is":[35,113],"difficult":[36],"to":[37,39,100,164,208,211,224],"apply":[38],"unknown":[40,79],"off-road":[41,191],"environment":[42,141],"which":[43,122],"cannot":[44,206],"obtain":[45],"such":[50],"as":[51,90],"transportation":[52],"and":[53,69,214],"target":[54],"search":[55],"dangerous":[57],"scenes":[58],"wild.":[61],"In":[62],"paper,":[64],"we":[65,93,132],"introduce":[66],"a":[67,95,134,149],"novel":[68,135],"efficient":[70],"real-time":[71,216],"path":[72,110,136,161,228],"planning":[73,162,218],"for":[75,108,116,139],"autonomous":[76],"driving":[77],"with":[81],"sparse":[82,118,212],"waypoints.":[83,130],"The":[84],"contributions":[85],"paper":[88],"are":[89],"follows.":[91],"First,":[92],"present":[94,133],"goal":[96,103],"point":[97],"extraction":[98],"algorithm":[99,138],"extract":[101],"configuration":[104],"free":[106],"space":[107],"local":[109,123],"planning.":[111],"It":[112],"extremely":[114],"suitable":[115],"waypoints":[119],"situation,":[120],"perception":[124],"map":[125,151],"may":[126],"not":[127,155],"contain":[128],"any":[129],"Second,":[131],"re-planning":[137],"large-scale":[140,180,227],"without":[142],"SLAM(Simultaneous":[143],"Localization":[144],"And":[145],"Mapping)":[146],"by":[147,178],"building":[148],"topology":[150],"constantly.":[152],"Our":[153],"only":[156],"overcame":[157],"failure":[159],"due":[163,210],"limited":[166],"on-board":[167],"sensing":[168],"range,":[169],"but":[170],"also":[171],"avoided":[172],"high":[173],"computing":[174],"resource":[175],"consumption":[176],"brought":[177],"construction":[181],"maintenance":[182],"SLAM.":[184],"A":[185],"large":[186],"number":[187],"challenging":[189],"real":[190],"scenarios":[192],"show":[193],"that":[194,203],"proposed":[196],"effectively":[199],"solve":[200],"problem":[202],"plan":[207],"travel":[209],"waypoints,":[213],"give":[215],"effective":[217],"results":[219],"when":[220],"need":[223],"carry":[225],"out":[226],"re-planning.":[229]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
