{"id":"https://openalex.org/W4402510846","doi":"https://doi.org/10.1109/rcar61438.2024.10671387","title":"Dynamic Obstacle Avoidance of An Omnidirectional USV","display_name":"Dynamic Obstacle Avoidance of An Omnidirectional USV","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4402510846","doi":"https://doi.org/10.1109/rcar61438.2024.10671387"},"language":"en","primary_location":{"id":"doi:10.1109/rcar61438.2024.10671387","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar61438.2024.10671387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5057790369","display_name":"Ziyou Wang","orcid":"https://orcid.org/0000-0003-0374-346X"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyou Wang","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028256056","display_name":"Lianxin Zhang","orcid":"https://orcid.org/0000-0002-5076-9518"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lianxin Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yang Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Lin","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23497314,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"170","issue":null,"first_page":"136","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7032002210617065},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6950122714042664},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6947208642959595},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6208817958831787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.555321455001831},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26574718952178955},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20893877744674683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.195288747549057},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12158945202827454},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09951445460319519},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.09541699290275574}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7032002210617065},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6950122714042664},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6947208642959595},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6208817958831787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.555321455001831},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26574718952178955},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20893877744674683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.195288747549057},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12158945202827454},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09951445460319519},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.09541699290275574},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar61438.2024.10671387","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar61438.2024.10671387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2008972180","https://openalex.org/W2096930758","https://openalex.org/W2122439876","https://openalex.org/W2138314326","https://openalex.org/W2164322951","https://openalex.org/W2165104073","https://openalex.org/W2664907401","https://openalex.org/W2737529802","https://openalex.org/W3215088593","https://openalex.org/W4229066299","https://openalex.org/W4384341967","https://openalex.org/W4389262669","https://openalex.org/W4392908472","https://openalex.org/W6755248927"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"This":[0,111],"paper":[1],"addresses":[2],"the":[3,67,97,114],"significance":[4],"of":[5,48,106],"dynamic":[6,37,49],"collision":[7,84],"avoidance":[8],"for":[9,26],"robots":[10],"operating":[11],"in":[12],"environments":[13,123],"with":[14],"numerous":[15],"obstacles.":[16,38],"We":[17],"propose":[18],"a":[19,76,79,103],"path":[20],"planning":[21,69],"algorithm":[22,40,72],"based":[23,51],"on":[24,52],"RRT":[25],"omnidirectional":[27],"unmanned":[28],"surface":[29],"vessels":[30],"(USV)":[31],"to":[32,44,74,95,117,121],"navigate":[33,118],"around":[34],"static":[35],"and":[36,58,92,119],"Our":[39],"employs":[41],"linear":[42],"regression":[43],"predict":[45],"future":[46],"positions":[47,57,62],"obstacles":[50],"their":[53],"current":[54],"states,":[55],"including":[56],"velocities.":[59],"These":[60],"predicted":[61],"are":[63],"then":[64],"incorporated":[65],"into":[66],"RRT*path":[68],"process.":[70],"The":[71],"aims":[73],"achieve":[75],"prediction":[77,93,104],"after":[78],"fixed":[80],"period,":[81],"ensuring":[82],"real-time":[83],"avoidance.":[85],"In":[86],"addition,":[87],"simulations":[88],"explore":[89],"various":[90],"map":[91],"times":[94],"evaluate":[96],"algorithm\u2019s":[98,115],"performance,":[99],"ultimately":[100],"determining":[101],"that":[102],"time":[105],"0.5":[107],"s":[108],"is":[109],"optimal.":[110],"experiment":[112],"underscores":[113],"capability":[116],"respond":[120],"complex":[122],"effectively.":[124]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
