{"id":"https://openalex.org/W2970702782","doi":"https://doi.org/10.1109/ivs.2019.8814129","title":"Autonomous Vehicle Path Planning Considering Dwarf or Negative Obstacles","display_name":"Autonomous Vehicle Path Planning Considering Dwarf or Negative Obstacles","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2970702782","doi":"https://doi.org/10.1109/ivs.2019.8814129","mag":"2970702782"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8814129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814129","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","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/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"]},{"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":"Lei Yang","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China","Lab of Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759","https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037402621","display_name":"Qi Wang","orcid":"https://orcid.org/0000-0001-8326-3727"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Wang","raw_affiliation_strings":["Autonomous Driving Lab, Tencent, China"],"affiliations":[{"raw_affiliation_string":"Autonomous Driving Lab, Tencent, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081213811","display_name":"Yingqi Tan","orcid":"https://orcid.org/0000-0002-1115-8597"},"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"]},{"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":"Yingqi Tan","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China","Lab of Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759","https://openalex.org/I125839683"]}]},{"author_position":"last","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"]},{"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":"Jianwei Gong","raw_affiliation_strings":["Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China","Lab of Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Lab of Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759","https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102961477"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I68581759"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.08475361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1021","last_page":"1026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9850999712944031,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7498677372932434},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7180216312408447},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7073681354522705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6609941124916077},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6434872150421143},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6253777742385864},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5879100561141968},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.568701446056366},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5349302291870117},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4270825982093811},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3567151427268982},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33983278274536133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.286238431930542},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21493494510650635},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.178086519241333},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13794073462486267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07994291186332703},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07600560784339905},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0631585419178009},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.05652788281440735}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7498677372932434},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7180216312408447},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7073681354522705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6609941124916077},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6434872150421143},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6253777742385864},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5879100561141968},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.568701446056366},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5349302291870117},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4270825982093811},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3567151427268982},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33983278274536133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.286238431930542},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21493494510650635},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.178086519241333},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13794073462486267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07994291186332703},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07600560784339905},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0631585419178009},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.05652788281440735},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2019.8814129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814129","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W282686812","https://openalex.org/W642775238","https://openalex.org/W1982194300","https://openalex.org/W1992157405","https://openalex.org/W1996183429","https://openalex.org/W1999050017","https://openalex.org/W2024249108","https://openalex.org/W2037740547","https://openalex.org/W2049561732","https://openalex.org/W2073127075","https://openalex.org/W2077758943","https://openalex.org/W2078978762","https://openalex.org/W2113029345","https://openalex.org/W2120108909","https://openalex.org/W2136445059","https://openalex.org/W2162908568","https://openalex.org/W2209116470","https://openalex.org/W2295146394","https://openalex.org/W4231761304","https://openalex.org/W6696970475"],"related_works":["https://openalex.org/W2023024008","https://openalex.org/W1911254468","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2172235251","https://openalex.org/W4386597929","https://openalex.org/W2394276631","https://openalex.org/W3216096898"],"abstract_inverted_index":{"Autonomous":[0],"vehicle":[1,107,125,134,178],"path":[2,10,29,73,170],"planning":[3,30,74,171],"involves":[4],"finding":[5],"a":[6,37,63,77,186],"collision-free":[7,18],"and":[8,19,52,60,90,95,146,165,197,202,217],"kinematic-feasible":[9,20,78],"from":[11,112],"the":[12,15,22,28,50,55,100,105,121,124,133,154,163,167,177,209,212],"start":[13],"to":[14,75,109],"goal.":[16],"Evidently,":[17],"are":[21,118,130],"two":[23],"most":[24],"important":[25],"parts":[26],"of":[27,57,65,84,123,169],"process.":[31],"In":[32,136],"this":[33],"paper,":[34],"we":[35,61],"propose":[36],"collision":[38,85,189],"checking":[39,86,190],"method":[40,192],"that":[41,103,193],"considers":[42],"dwarf":[43,91,116,198,216],"or":[44,93,200],"negative":[45,97,128,204,219],"obstacles,":[46,92,199],"which":[47,68],"can":[48,160],"improve":[49],"traversability":[51],"stability":[53,168],"under":[54,172,211],"promise":[56],"ensuring":[58],"collision-free,":[59],"use":[62],"kind":[64],"motion":[66],"primitives":[67],"considering":[69],"non-holonomic":[70],"constraints":[71],"for":[72],"generate":[76],"path.":[79],"Specifically,":[80],"some":[81,115,127],"existing":[82],"approaches":[83],"deal":[87],"with":[88,150,195],"lofty":[89,158,196],"wide":[94,201],"narrow,":[96,203],"obstacles":[98,117,129,152,159,205,220],"in":[99,153],"same":[101,155],"manner":[102],"require":[104],"entire":[106],"body":[108],"steer":[110],"away":[111],"them.":[113],"However,":[114],"shorter":[119],"than":[120,132],"chassis":[122],"while":[126],"narrower":[131],"track.":[135],"those":[137],"cases,":[138],"overstriding":[139],"maneuvers":[140],"will":[141],"prove":[142],"much":[143],"more":[144],"efficient":[145],"reasonable.":[147],"Moreover,":[148],"dealing":[149],"these":[151],"way":[156],"as":[157],"dramatically":[161],"reduce":[162],"flexibility":[164,210],"disturb":[166],"clustered":[173],"environments,":[174],"especially":[175],"when":[176],"moves":[179],"at":[180],"higher":[181],"speed.":[182],"This":[183],"paper":[184],"proposes":[185],"double":[187],"layer":[188],"(DLCC)":[191],"deals":[194],"separately,":[206],"effectively":[207],"increasing":[208],"complex":[213],"scenarios":[214],"where":[215],"narrow":[218],"exist.":[221]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}