{"id":"https://openalex.org/W4394713219","doi":"https://doi.org/10.1109/ricai60863.2023.10489546","title":"A Multi-Source Potential Field for Off-Road Path Planning","display_name":"A Multi-Source Potential Field for Off-Road Path Planning","publication_year":2023,"publication_date":"2023-12-01","ids":{"openalex":"https://openalex.org/W4394713219","doi":"https://doi.org/10.1109/ricai60863.2023.10489546"},"language":"en","primary_location":{"id":"doi:10.1109/ricai60863.2023.10489546","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ricai60863.2023.10489546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)","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/A5039611299","display_name":"Yujia Xie","orcid":"https://orcid.org/0000-0003-1740-0134"},"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":"Yujia Xie","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092234957","display_name":"Shida Nie","orcid":"https://orcid.org/0000-0002-4274-1996"},"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":"Shida Nie","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387593","display_name":"Hui Liu","orcid":"https://orcid.org/0000-0002-5826-3271"},"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":"Hui Liu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060648268","display_name":"Lijin Han","orcid":"https://orcid.org/0000-0002-7249-0331"},"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":"Lijin Han","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022877262","display_name":"Congshuai Guo","orcid":"https://orcid.org/0000-0001-8699-1009"},"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":"Congshuai Guo","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103031147","display_name":"Fawang Zhang","orcid":"https://orcid.org/0009-0002-7455-9694"},"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":"Fawang Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28266667,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"416","last_page":"422"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/computer-science","display_name":"Computer science","score":0.5934383273124695},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5744516253471375},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5328189730644226},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5140541791915894},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.5046778917312622},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1504337191581726},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13185548782348633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13114899396896362},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07915341854095459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06355831027030945},{"id":"https://openalex.org/keywords/geophysics","display_name":"Geophysics","score":0.05175027251243591}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5934383273124695},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5744516253471375},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5328189730644226},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5140541791915894},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.5046778917312622},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1504337191581726},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13185548782348633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13114899396896362},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07915341854095459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06355831027030945},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.05175027251243591},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ricai60863.2023.10489546","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ricai60863.2023.10489546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2292535657","display_name":null,"funder_award_id":"52002212","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2908972399","https://openalex.org/W2912361519","https://openalex.org/W2980634361","https://openalex.org/W2982632025","https://openalex.org/W2996899864","https://openalex.org/W3120903469","https://openalex.org/W3126610903","https://openalex.org/W4213175439","https://openalex.org/W4287888056"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W1965569281","https://openalex.org/W4324119413","https://openalex.org/W2062919732","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4282942842","https://openalex.org/W2893030767","https://openalex.org/W2573269332"],"abstract_inverted_index":{"Off-road":[0],"environments":[1,41],"with":[2,56,181],"varied":[3],"terrain":[4,49,76,103,141],"and":[5,33,50,60,72,74,108,130,140,184,203],"obstacle":[6,111,135],"types":[7],"pose":[8],"challenges":[9],"for":[10],"safe":[11],"maneuvering":[12],"of":[13,46,83,153,163],"unmanned":[14],"ground":[15],"vehicles":[16],"(UGVs).":[17],"In":[18,193],"this":[19],"paper,":[20],"the":[21,31,44,47,57,81,101,109,120,150,164,186,195],"multi-source":[22],"off-road":[23,40,154],"potential":[24,93,105,113,137,143],"field":[25,94,106,114,138,144],"(MOPF)":[26],"is":[27,96,169],"proposed":[28],"to":[29,79,118,148,178],"quantify":[30,119],"risk":[32],"impedimental":[34,151],"effects":[35],"on":[36,69,86,99,156],"vehicle":[37,58,63,84,125,157,187],"travel":[38],"in":[39,54,166],"by":[42,176],"taking":[43],"effect":[45,152],"three-dimensional":[48],"obstacles":[51],"into":[52],"account":[53],"combination":[55],"performance":[59,85],"state.":[61],"First,":[62],"failure":[64],"conditions":[65],"are":[66,77,116,146],"defined":[67],"based":[68,98],"dynamics":[70],"analysis,":[71],"crossable":[73,134],"non-crossable":[75,102,110],"classified":[78],"consider":[80],"limitations":[82],"various":[87],"terrain.":[88],"The":[89,133,171],"non-uniform":[90],"safety":[91],"margin":[92],"(NSMPF)":[95],"proposed,":[97],"which":[100,122],"source":[104,112,136,142],"(NTSPF)":[107],"(NOSPF)":[115],"established":[117,147],"risk,":[121],"can":[123,197],"help":[124],"effectively":[126],"avoid":[127],"unnecessary":[128],"detours":[129],"save":[131],"energy.":[132],"(COSPF)":[139],"(TSPF)":[145],"represent":[149],"environment":[155],"traveling.":[158],"Finally,":[159],"an":[160],"application":[161],"example":[162],"MOPF":[165,172,196],"path":[167],"planning":[168],"given.":[170],"has":[173],"been":[174],"proved":[175],"simulation":[177],"generate":[179],"paths":[180],"short":[182],"lengths":[183],"match":[185],"performance,":[188],"while":[189],"ensuring":[190],"collision":[191],"avoidance.":[192],"addition,":[194],"also":[198],"include":[199],"different":[200],"human":[201],"needs":[202],"driving":[204],"styles.":[205]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
