{"id":"https://openalex.org/W4312578919","doi":"https://doi.org/10.1109/taes.2022.3221702","title":"Collision-Free Model Predictive Trajectory Tracking Control for UAVs in Obstacle Environment","display_name":"Collision-Free Model Predictive Trajectory Tracking Control for UAVs in Obstacle Environment","publication_year":2022,"publication_date":"2022-11-11","ids":{"openalex":"https://openalex.org/W4312578919","doi":"https://doi.org/10.1109/taes.2022.3221702"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2022.3221702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3221702","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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/A5064530845","display_name":"Da Huo","orcid":"https://orcid.org/0000-0001-5579-8521"},"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":true,"raw_author_name":"Da Huo","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664401","display_name":"Li Dai","orcid":"https://orcid.org/0000-0002-7268-7548"},"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":"Li Dai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"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":"Runqi Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007638094","display_name":"Ruochen Xue","orcid":"https://orcid.org/0000-0003-1536-2576"},"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":"Ruochen Xue","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"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":"Yuanqing Xia","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064530845"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":5.1961,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.9676077,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"59","issue":"3","first_page":"2920","last_page":"2932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"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":0.9916999936103821,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9884999990463257,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9865000247955322,"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/model-predictive-control","display_name":"Model predictive control","score":0.8138308525085449},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7946372032165527},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7594711184501648},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6210786700248718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5689706802368164},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5398246049880981},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5241694450378418},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4365186095237732},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42736077308654785},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3595297336578369},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22379806637763977},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2189297080039978},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18998557329177856},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12366479635238647}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8138308525085449},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7946372032165527},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7594711184501648},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6210786700248718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5689706802368164},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5398246049880981},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5241694450378418},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4365186095237732},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42736077308654785},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3595297336578369},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22379806637763977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2189297080039978},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18998557329177856},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12366479635238647},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2022.3221702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3221702","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G33777005","display_name":null,"funder_award_id":"62122014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5201007300","display_name":null,"funder_award_id":"62173036","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":37,"referenced_works":["https://openalex.org/W1518039036","https://openalex.org/W1576721254","https://openalex.org/W1603030703","https://openalex.org/W1973734421","https://openalex.org/W2125652030","https://openalex.org/W2127911678","https://openalex.org/W2150930292","https://openalex.org/W2294747335","https://openalex.org/W2334750579","https://openalex.org/W2343039740","https://openalex.org/W2418368699","https://openalex.org/W2580594461","https://openalex.org/W2605255410","https://openalex.org/W2618092744","https://openalex.org/W2766984896","https://openalex.org/W2773360978","https://openalex.org/W2810169700","https://openalex.org/W2818868293","https://openalex.org/W2891636475","https://openalex.org/W2895882341","https://openalex.org/W2903902823","https://openalex.org/W2937319155","https://openalex.org/W2962787639","https://openalex.org/W3003747652","https://openalex.org/W3006295588","https://openalex.org/W3024223975","https://openalex.org/W3031287683","https://openalex.org/W3036408458","https://openalex.org/W3040669448","https://openalex.org/W3045462839","https://openalex.org/W3046596703","https://openalex.org/W3081238109","https://openalex.org/W3093968153","https://openalex.org/W3111389675","https://openalex.org/W3164961452","https://openalex.org/W3182030658","https://openalex.org/W3183413118"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W128654086","https://openalex.org/W2120267624"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"propose":[4],"a":[5,51,75,84,94,130,133],"collision-free":[6,69],"model":[7,76],"predictive":[8,77],"trajectory":[9,59],"tracking":[10],"control":[11,78,101],"algorithm":[12,125],"for":[13],"unmanned":[14],"aerial":[15],"vehicles":[16],"(UAVs)":[17],"in":[18,132],"environments":[19],"with":[20,83],"both":[21],"static":[22],"obstacles":[23,42],"and":[24,48,57,71],"dynamic":[25,41],"obstacles.":[26],"Collision":[27],"avoidance":[28],"is":[29,81,126],"ensured":[30],"by":[31,93,129],"obtaining":[32],"outer":[33],"polyhedral":[34],"approximations":[35],"of":[36,39,60,111,122],"each":[37],"interval":[38],"the":[40,55,58,61,65,100,109,120,123],"trajectories":[43],"based":[44],"on":[45],"MINVO":[46],"basis,":[47],"then,":[49],"optimizing":[50],"plane":[52],"to":[53],"separate":[54],"polyhedra":[56],"UAV.":[62],"By":[63],"incorporating":[64],"resulting":[66],"computationally":[67],"efficient":[68],"constraints":[70],"divers":[72],"physical":[73],"constraints,":[74],"optimization":[79],"problem":[80],"formulated":[82],"tailored":[85],"terminal":[86],"constraint":[87],"set,":[88],"which":[89],"can":[90],"be":[91],"solved":[92],"standard":[95],"nonlinear":[96],"programming":[97],"solver.":[98],"Moreover,":[99],"theoretic":[102],"properties":[103],"are":[104],"established,":[105],"including":[106],"recursive":[107],"feasibility,":[108],"guarantee":[110],"collision":[112],"avoidance,":[113],"as":[114,116],"well":[115],"closed-loop":[117],"stability.":[118],"Finally,":[119],"efficacy":[121],"proposed":[124],"successfully":[127],"evaluated":[128],"simulation":[131],"multiobstacle":[134],"environment.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}