{"id":"https://openalex.org/W7134835714","doi":"https://doi.org/10.1109/jiot.2026.3671781","title":"A Multistrategy Coverage Path Planning Framework for Unmanned Sailboats Under Wind Constraints","display_name":"A Multistrategy Coverage Path Planning Framework for Unmanned Sailboats Under Wind Constraints","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134835714","doi":"https://doi.org/10.1109/jiot.2026.3671781"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2026.3671781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3671781","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5022650605","display_name":"Jinkun Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinkun Shen","raw_affiliation_strings":["College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128630913","display_name":"Yifan Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Xue","raw_affiliation_strings":["College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7178-3442","affiliations":[{"raw_affiliation_string":"College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032489849","display_name":"Zhongben Zhu","orcid":"https://orcid.org/0000-0001-6152-5706"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongben Zhu","raw_affiliation_strings":["College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-6152-5706","affiliations":[{"raw_affiliation_string":"College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121009065","display_name":"Guiqiang Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guiqiang Bai","raw_affiliation_strings":["College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-3917-5700","affiliations":[{"raw_affiliation_string":"College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019463180","display_name":"Xiaokai Mu","orcid":"https://orcid.org/0000-0002-2923-5861"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokai Mu","raw_affiliation_strings":["College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-2923-5861","affiliations":[{"raw_affiliation_string":"College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5128673319","display_name":"Hongde Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongde Qin","raw_affiliation_strings":["College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9794-4491","affiliations":[{"raw_affiliation_string":"College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5022650605"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36627463,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"11","first_page":"24026","last_page":"24043"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9103000164031982,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9103000164031982,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.022199999541044235,"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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.014399999752640724,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7439000010490417},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5967000126838684},{"id":"https://openalex.org/keywords/tacking","display_name":"Tacking","score":0.5424000024795532},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.48190000653266907},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.47440001368522644},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4738999903202057},{"id":"https://openalex.org/keywords/wind-power","display_name":"Wind power","score":0.430400013923645},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.36079999804496765},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.34709998965263367}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7439000010490417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6746000051498413},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5967000126838684},{"id":"https://openalex.org/C2779181239","wikidata":"https://www.wikidata.org/wiki/Q7673928","display_name":"Tacking","level":2,"score":0.5424000024795532},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.48190000653266907},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.47440001368522644},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4738999903202057},{"id":"https://openalex.org/C78600449","wikidata":"https://www.wikidata.org/wiki/Q43302","display_name":"Wind power","level":2,"score":0.430400013923645},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.40610000491142273},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3619999885559082},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.36079999804496765},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.34709998965263367},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3452000021934509},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3294999897480011},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3197000026702881},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C141441539","wikidata":"https://www.wikidata.org/wiki/Q1970908","display_name":"Boom","level":2,"score":0.3019999861717224},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3018999993801117},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.25429999828338623},{"id":"https://openalex.org/C91370436","wikidata":"https://www.wikidata.org/wiki/Q5608616","display_name":"Grid method multiplication","level":3,"score":0.25360000133514404},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2026.3671781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3671781","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7490020990371704,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2137583584","display_name":null,"funder_award_id":"WDZC20255290305","funder_id":"https://openalex.org/F4320328373","funder_display_name":"National Key Laboratory Foundation of China"},{"id":"https://openalex.org/G2402059277","display_name":null,"funder_award_id":"52301364","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2796248015","display_name":null,"funder_award_id":"ZR2024QE371","funder_id":"https://openalex.org/F4320336925","funder_display_name":"Shandong Provincial Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6122871775","display_name":null,"funder_award_id":"52401365","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8350742958","display_name":null,"funder_award_id":"52301369","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8475959179","display_name":null,"funder_award_id":"ZR2024QE371","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G991470797","display_name":null,"funder_award_id":"52301371","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},{"id":"https://openalex.org/F4320328373","display_name":"National Key Laboratory Foundation of China","ror":null},{"id":"https://openalex.org/F4320336925","display_name":"Shandong Provincial Postdoctoral Science Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Powered":[0],"by":[1],"wind,":[2],"unmanned":[3,36,60],"sailboats":[4],"are":[5],"highly":[6],"suitable":[7],"for":[8],"performing":[9],"coverage":[10,39,62,104],"patrol":[11],"missions":[12],"around":[13],"remote":[14],"islands":[15],"with":[16,169],"limited":[17],"supply":[18],"and":[19,30,85,100,122,183],"energy":[20],"support.":[21],"However,":[22],"due":[23],"to":[24,74,78,93,118,150],"the":[25,31,56,86,91,103,120,124,132,158,174],"complexity":[26],"of":[27,35,58,96],"island":[28],"environments":[29],"underactuated":[32],"motion":[33],"characteristics":[34],"sailboats,":[37],"their":[38],"path":[40,121],"planning":[41],"(CPP)":[42],"becomes":[43,134],"a":[44,50,65,137,139],"significant":[45],"challenge.":[46],"This":[47],"paper":[48],"proposes":[49],"multi-strategy":[51],"CPP":[52,172],"framework":[53,160],"that":[54,157],"overcomes":[55],"limitations":[57],"existing":[59,170],"sailboat":[61,92,125,133,171],"methods.":[63],"First,":[64],"Downwind":[66],"Priority":[67],"Greedy":[68],"Dynamic":[69],"Reward":[70],"Algorithm":[71,147],"is":[72,116,148],"used":[73],"assign":[75],"reward":[76],"values":[77],"grid":[79,98],"nodes":[80,99],"based":[81],"on":[82],"wind":[83],"direction":[84],"sailboat\u2019s":[87],"traveled":[88],"route,":[89],"guiding":[90],"prioritize":[94],"exploration":[95],"downwind":[97],"ultimately":[101],"complete":[102],"task.":[105],"Second,":[106],"during":[107],"tacking":[108],"maneuvers,":[109],"an":[110],"improved":[111],"Artificial":[112],"Potential":[113],"Field":[114],"method":[115,176],"applied":[117],"adjust":[119],"prevent":[123],"from":[126],"entering":[127],"no-sail":[128],"zones.":[129],"Furthermore,":[130],"when":[131],"stuck":[135],"in":[136,180],"deadlock,":[138],"Velocity":[140],"Prediction":[141],"Program":[142],"Rapidly-exploring":[143],"Random":[144],"Tree":[145],"Star":[146],"employed":[149],"resolve":[151],"it.":[152],"Finally,":[153],"Simulation":[154],"results":[155],"show":[156],"proposed":[159,175],"exhibits":[161],"strong":[162],"adaptability":[163],"across":[164],"different":[165],"map":[166],"environments.":[167],"Compared":[168],"algorithms,":[173],"demonstrates":[177],"clear":[178],"advantages":[179],"both":[181],"feasibility":[182],"performance.":[184]},"counts_by_year":[],"updated_date":"2026-05-23T06:10:36.450269","created_date":"2026-03-11T00:00:00"}
