{"id":"https://openalex.org/W4308080444","doi":"https://doi.org/10.1109/itsc55140.2022.9922063","title":"Analyses and Comparisons of UAV Path Planning Algorithms in Three-Dimensional City Environment","display_name":"Analyses and Comparisons of UAV Path Planning Algorithms in Three-Dimensional City Environment","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080444","doi":"https://doi.org/10.1109/itsc55140.2022.9922063"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922063","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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/A5101255917","display_name":"Ziang Gao","orcid":"https://orcid.org/0009-0002-9898-5225"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziang Gao","raw_affiliation_strings":["School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107209326","display_name":"Xuejun Zhang","orcid":"https://orcid.org/0000-0002-8340-4857"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuejun Zhang","raw_affiliation_strings":["School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017750398","display_name":"Yan Li","orcid":"https://orcid.org/0000-0002-5610-5341"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Li","raw_affiliation_strings":["School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008785378","display_name":"Yuanjun Zhu","orcid":"https://orcid.org/0000-0001-7473-4021"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanjun Zhu","raw_affiliation_strings":["School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Electronic &#x0026; Information Engineering, Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067426572","display_name":"Hua Wu","orcid":"https://orcid.org/0000-0002-7090-0464"},"institutions":[{"id":"https://openalex.org/I4210123833","display_name":"Civil Aviation Management Institute of China","ror":"https://ror.org/03eh3c696","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210123833"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Wu","raw_affiliation_strings":["Civil Aviation Management Institute of China,CAAC Key Laboratory of General Aviation Operation,Beijing,China","General Aviation Research Institute of Zhejiang, JianDe, Hangzhou, China","CAAC Key Laboratory of General Aviation Operation, Civil Aviation Management Institute of China, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Civil Aviation Management Institute of China,CAAC Key Laboratory of General Aviation Operation,Beijing,China","institution_ids":["https://openalex.org/I4210123833"]},{"raw_affiliation_string":"General Aviation Research Institute of Zhejiang, JianDe, Hangzhou, China","institution_ids":[]},{"raw_affiliation_string":"CAAC Key Laboratory of General Aviation Operation, Civil Aviation Management Institute of China, Beijing, China","institution_ids":["https://openalex.org/I4210123833"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016158933","display_name":"Xiangmin Guan","orcid":"https://orcid.org/0000-0003-0043-4741"},"institutions":[{"id":"https://openalex.org/I4210123833","display_name":"Civil Aviation Management Institute of China","ror":"https://ror.org/03eh3c696","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210123833"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangmin Guan","raw_affiliation_strings":["Civil Aviation Management Institute of China,Department of General Aviation,Beijing,China","Department of General Aviation, Civil Aviation Management Institute of China, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Civil Aviation Management Institute of China,Department of General Aviation,Beijing,China","institution_ids":["https://openalex.org/I4210123833"]},{"raw_affiliation_string":"Department of General Aviation, Civil Aviation Management Institute of China, Beijing, China","institution_ids":["https://openalex.org/I4210123833"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101255917"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.2388,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.58516678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"459","last_page":"464"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9954000115394592,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9811000227928162,"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/motion-planning","display_name":"Motion planning","score":0.7136664390563965},{"id":"https://openalex.org/keywords/randomness","display_name":"Randomness","score":0.666073739528656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6614158153533936},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6101284027099609},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6037230491638184},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5427380800247192},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.5388770699501038},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4831497073173523},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.43262675404548645},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3494284749031067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2537470757961273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16335627436637878},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14044591784477234}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7136664390563965},{"id":"https://openalex.org/C125112378","wikidata":"https://www.wikidata.org/wiki/Q176640","display_name":"Randomness","level":2,"score":0.666073739528656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6614158153533936},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6101284027099609},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6037230491638184},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5427380800247192},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.5388770699501038},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4831497073173523},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.43262675404548645},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3494284749031067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2537470757961273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16335627436637878},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14044591784477234},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922063","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G6339636690","display_name":null,"funder_award_id":"ZR2020MF151","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G711929245","display_name":null,"funder_award_id":"71731001,U1933130,U1533119","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2017542560","https://openalex.org/W2107941094","https://openalex.org/W2182059131","https://openalex.org/W2966028273","https://openalex.org/W2970020633","https://openalex.org/W2972488263","https://openalex.org/W2973027264","https://openalex.org/W3040669448","https://openalex.org/W3042213303","https://openalex.org/W3140133525","https://openalex.org/W3161815635","https://openalex.org/W4242811155","https://openalex.org/W6605295560","https://openalex.org/W6633559679"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2907508539","https://openalex.org/W3158818664","https://openalex.org/W4388720133","https://openalex.org/W2359600231","https://openalex.org/W2372633663","https://openalex.org/W4285338599","https://openalex.org/W2863424594","https://openalex.org/W1660309994","https://openalex.org/W3216757130"],"abstract_inverted_index":{"Path":[0],"planning":[1,70,89],"for":[2,78,165],"unmanned":[3],"aerial":[4],"vehicle":[5],"(UAV)":[6],"is":[7,162,185],"a":[8,58,73,170],"crucial":[9],"problem":[10],"especially":[11,163],"in":[12,30,72,143,156,191],"complicated":[13,53],"three-dimensional":[14],"(3D)":[15],"city":[16,32,54,74,127],"environments.":[17],"Until":[18],"recently,":[19],"several":[20],"algorithms":[21,37,71,90,121],"have":[22],"been":[23],"proposed":[24],"to":[25,57,93,117],"realize":[26],"the":[27,35,41,52,65,79,95,119,144,186,189,192,197,204],"UAV":[28,49,80,87],"operations":[29],"3D":[31],"environment,":[33],"but":[34],"existing":[36],"only":[38],"focus":[39],"on":[40],"ideal":[42],"conditions,":[43],"including":[44],"known":[45],"obstacles":[46,142],"and":[47,98,115,135,138,178],"deterministic":[48],"parameters.":[50],"However,":[51],"environment":[55,75],"leads":[56],"lot":[59],"of":[60,67,126,141,173,188,196,199],"randomness.":[61],"In":[62,82],"this":[63,83],"way":[64],"evaluations":[66],"different":[68,124,130,139],"path":[69,88],"become":[76],"indispensable":[77],"operations.":[81],"paper":[84],"three":[85,158,190],"classic":[86],"are":[91,113],"selected":[92],"make":[94],"detailed":[96],"analyses":[97],"comparisons,":[99],"namely":[100],"A*":[101,152],"algorithm,":[102],"random-rapidly":[103],"tree":[104],"algorithm":[105,109,153],"(RRT),":[106],"ant":[107],"colony":[108],"(ACO).":[110],"Three":[111],"scenarios":[112,194],"designed":[114,193],"applied":[116],"test":[118],"mentioned":[120],"above,":[122],"considering":[123],"sizes":[125],"operation":[128],"scenarios,":[129],"altitudes":[131],"between":[132,176],"starting":[133,177],"point":[134],"destination":[136,179],"point,":[137],"densities":[140],"flying":[145],"environment.":[146],"The":[147],"simulation":[148],"results":[149],"show":[150],"that":[151],"works":[154],"well":[155],"all":[157],"scenarios.":[159],"Similarly,":[160],"ACO":[161],"suitable":[164],"large":[166],"scale":[167],"scenes":[168],"with":[169],"great":[171],"amount":[172],"height":[174],"differences":[175],"points.":[180],"To":[181],"some":[182],"extent":[183],"RRT":[184],"worst":[187],"because":[195],"characteristics":[198],"random":[200],"walking":[201],"when":[202],"locating":[203],"optimum":[205],"solutions.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}
