{"id":"https://openalex.org/W2047286695","doi":"https://doi.org/10.1109/robio.2012.6491122","title":"3D PRM based real-time path planning for UAV in complex environment","display_name":"3D PRM based real-time path planning for UAV in complex environment","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2047286695","doi":"https://doi.org/10.1109/robio.2012.6491122","mag":"2047286695"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491122","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5087549046","display_name":"Fei Yan","orcid":"https://orcid.org/0000-0002-3454-5987"},"institutions":[{"id":"https://openalex.org/I174216632","display_name":"City University of New York","ror":"https://ror.org/00453a208","country_code":"US","type":"education","lineage":["https://openalex.org/I174216632"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Fei Yan","raw_affiliation_strings":["CCNY Robotics Lab, The City College, City University of New York"],"affiliations":[{"raw_affiliation_string":"CCNY Robotics Lab, The City College, City University of New York","institution_ids":["https://openalex.org/I174216632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009698718","display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["Research Center of Information and Control, Dalian University of Technology, Dalian, China","Research Center of Information and Control, Dalian University of Technology, Dalian, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Research Center of Information and Control, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Research Center of Information and Control, Dalian University of Technology, Dalian, China#TAB#","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101508414","display_name":"Jizhong Xiao","orcid":"https://orcid.org/0000-0003-2398-7330"},"institutions":[{"id":"https://openalex.org/I174216632","display_name":"City University of New York","ror":"https://ror.org/00453a208","country_code":"US","type":"education","lineage":["https://openalex.org/I174216632"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jizhong Xiao","raw_affiliation_strings":["Department of Electrical Engineering, The City College, City University of New York, Convent Ave and 140th Street, New York, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The City College, City University of New York, Convent Ave and 140th Street, New York, USA","institution_ids":["https://openalex.org/I174216632"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087549046"],"corresponding_institution_ids":["https://openalex.org/I174216632"],"apc_list":null,"apc_paid":null,"fwci":0.2745,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.57267071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1135","last_page":"1140"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9977999925613403,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9775999784469604,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.875054121017456},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8050507307052612},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.748389482498169},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.7436357140541077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7258676290512085},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6689997911453247},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.6370144486427307},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.606732189655304},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.592764675617218},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5654576420783997},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39389878511428833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.326668381690979},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11325418949127197},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09647244215011597}],"concepts":[{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.875054121017456},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8050507307052612},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.748389482498169},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.7436357140541077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7258676290512085},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6689997911453247},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.6370144486427307},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.606732189655304},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.592764675617218},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5654576420783997},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39389878511428833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.326668381690979},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11325418949127197},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09647244215011597},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491122","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7099999785423279,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2068861396","https://openalex.org/W2072400093","https://openalex.org/W2085492522","https://openalex.org/W2090773282","https://openalex.org/W2096069416","https://openalex.org/W2120248849","https://openalex.org/W2127611356","https://openalex.org/W2128990851","https://openalex.org/W2134348961","https://openalex.org/W2146615533","https://openalex.org/W2154444440","https://openalex.org/W2167074278","https://openalex.org/W6677660427","https://openalex.org/W6684827296"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,87,106],"real-time":[4],"path":[5,112,126],"planning":[6,127],"algorithm":[7,116],"for":[8,111,117],"unmanned":[9],"aerial":[10],"vehicle":[11],"(UAV)":[12],"in":[13,66,81,94],"complex":[14],"3D":[15,95],"environments.":[16],"In":[17,41],"this":[18],"study,":[19],"the":[20,35,39,45,51,60,99,102,124,132],"work":[21],"space":[22,31],"is":[23,53,63,76,109],"represented":[24],"by":[25,78,114],"free":[26,48],"voxels,":[27],"which":[28,108],"have":[29],"enough":[30],"tolerance":[32],"to":[33,43,85],"satisfy":[34],"safety":[36],"needs":[37],"of":[38,47,91],"UVA.":[40],"order":[42],"obtain":[44],"connectivity":[46,61],"voxels":[49],"effectively,":[50],"environment":[52],"divided":[54],"into":[55],"bounding":[56,68,82],"box":[57,83],"array":[58,84],"and":[59],"evaluation":[62],"carried":[64],"out":[65],"each":[67],"box.":[69],"A":[70],"modified":[71],"Probabilistic":[72],"Roadmap":[73],"Method":[74],"(PRM)":[75],"introduced":[77],"random":[79],"sampling":[80],"ensure":[86],"more":[88],"evenly":[89],"distribution":[90],"roadmap":[92],"nodes":[93,104],"space.":[96],"Based":[97],"on":[98],"voxel":[100],"connectivity,":[101],"selected":[103],"compose":[105],"roadmap,":[107],"applied":[110],"searching":[113],"A*":[115],"feasible":[118],"path.":[119],"Experimental":[120],"results":[121],"show":[122],"that":[123],"proposed":[125],"approach":[128],"can":[129],"significantly":[130],"reduce":[131],"computation":[133],"time":[134],"than":[135],"traditional":[136],"PRM":[137],"method.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}