{"id":"https://openalex.org/W4225814850","doi":"https://doi.org/10.1109/tii.2022.3168434","title":"Multiphase Overtaking Maneuver Planning for Autonomous Ground Vehicles Via a Desensitized Trajectory Optimization Approach","display_name":"Multiphase Overtaking Maneuver Planning for Autonomous Ground Vehicles Via a Desensitized Trajectory Optimization Approach","publication_year":2022,"publication_date":"2022-04-19","ids":{"openalex":"https://openalex.org/W4225814850","doi":"https://doi.org/10.1109/tii.2022.3168434"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2022.3168434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3168434","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","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/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"],"raw_orcid":"https://orcid.org/0000-0003-4083-8863","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/A5085012064","display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antonios Tsourdos","raw_affiliation_strings":["School of Aerospace, Transport and Manufacturing, Cranfield University, Bedford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3966-7633","affiliations":[{"raw_affiliation_string":"School of Aerospace, Transport and Manufacturing, Cranfield University, Bedford, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070349528","display_name":"Senchun Chai","orcid":"https://orcid.org/0000-0003-1910-1795"},"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":"Senchun Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1910-1795","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/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"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","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/A5102861951","display_name":"Al Savvaris","orcid":"https://orcid.org/0000-0003-3210-5838"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Al Savvaris","raw_affiliation_strings":["School of Aerospace, Transport and Manufacturing, Cranfield University, Bedford, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace, Transport and Manufacturing, Cranfield University, Bedford, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100643265","display_name":"C. L. Philip Chen","orcid":"https://orcid.org/0000-0001-5451-7230"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"C. L. Philip Chen","raw_affiliation_strings":["School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","Pazhou Lab, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5451-7230","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Pazhou Lab, Guangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.9574,"has_fulltext":false,"cited_by_count":173,"citation_normalized_percentile":{"value":0.99413646,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"19","issue":"1","first_page":"74","last_page":"87"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9908000230789185,"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/T12158","display_name":"Guidance and Control Systems","score":0.9907000064849854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/overtaking","display_name":"Overtaking","score":0.9326462745666504},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7929871082305908},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.7292389273643494},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7200265526771545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5781444311141968},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5764071345329285},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5728793740272522},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5206124782562256},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.452542781829834},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.38522717356681824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3002394139766693},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21340841054916382},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1579107940196991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13840728998184204}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.9326462745666504},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7929871082305908},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.7292389273643494},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7200265526771545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5781444311141968},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5764071345329285},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5728793740272522},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5206124782562256},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.452542781829834},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.38522717356681824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3002394139766693},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21340841054916382},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1579107940196991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13840728998184204},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2022.3168434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2022.3168434","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"No poverty","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/1"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1896468122","https://openalex.org/W2037849442","https://openalex.org/W2163385431","https://openalex.org/W2306644740","https://openalex.org/W2345973286","https://openalex.org/W2517622066","https://openalex.org/W2529203031","https://openalex.org/W2610176484","https://openalex.org/W2622358436","https://openalex.org/W2753710570","https://openalex.org/W2762651111","https://openalex.org/W2784320602","https://openalex.org/W2792491297","https://openalex.org/W2792573551","https://openalex.org/W2796096089","https://openalex.org/W2884559985","https://openalex.org/W2887143516","https://openalex.org/W2902210411","https://openalex.org/W2996857119","https://openalex.org/W3007182367","https://openalex.org/W3010163975","https://openalex.org/W3097634115","https://openalex.org/W3104462899","https://openalex.org/W3120903469","https://openalex.org/W3201745857"],"related_works":["https://openalex.org/W2361305466","https://openalex.org/W3156564829","https://openalex.org/W2356996864","https://openalex.org/W2262795564","https://openalex.org/W4205893925","https://openalex.org/W3097342839","https://openalex.org/W2393888647","https://openalex.org/W2351674721","https://openalex.org/W4225814850","https://openalex.org/W1843385398"],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2,165],"the":[3,13,42,56,70,73,94,99,118,123,144,157,160,170,173,177,181],"problem":[4],"of":[5,15,28,72,159,172,180],"trajectory":[6,48,85,183],"optimization":[7,49,86,113,126,184],"for":[8,98],"autonomous":[9],"ground":[10],"vehicles":[11],"with":[12],"consideration":[14],"irregularly":[16],"placed":[17],"on-road":[18],"obstacles":[19],"and":[20,90,176],"multiple":[21],"maneuver":[22,97],"phases.":[23],"By":[24],"introducing":[25],"a":[26,31,82,105,134],"series":[27],"event":[29],"sequences,":[30],"new":[32],"multiphase":[33],"constrained":[34],"optimal":[35,95],"control":[36],"formulation":[37],"is":[38,88,115],"constructed":[39,57],"to":[40,54,69,77,92,155,168],"describe":[41],"automatic":[43],"overtaking":[44,96],"process.":[45],"Although":[46],"existing":[47],"techniques":[50],"can":[51,128],"be":[52,129],"applied":[53],"address":[55],"problem,":[58],"they":[59],"may":[60],"suffer":[61],"from":[62],"poor":[63],"or":[64],"premature":[65],"convergence":[66,140],"issues":[67],"due":[68],"complexity":[71],"mission":[74],"formulation.":[75,162],"Thus,":[76],"offer":[78],"an":[79,110],"effective":[80],"alternative,":[81],"novel":[83],"desensitized":[84],"method":[87,103,114],"designed":[89],"implemented":[91],"explore":[93],"AGVs.":[100],"The":[101,138],"proposed":[102,182],"applies":[104],"double":[106],"layer":[107,120],"structure,":[108],"where":[109],"enhanced":[111,178],"intelligent":[112],"used":[116],"in":[117],"outer":[119],"such":[121],"that":[122],"main":[124],"inner":[125],"routine":[127],"boosted":[130],"by":[131],"starting":[132],"at":[133],"better":[135],"reference":[136],"solution.":[137],"algorithm":[139],"as":[141,143],"well":[142],"solution":[145,175],"optimality":[146],"conditions":[147],"are":[148,153],"theoretically":[149],"analyzed.":[150],"Numerical":[151],"results":[152],"provided":[154],"illustrate":[156],"validity":[158],"established":[161],"Comparative":[163],"case":[164],"were":[166],"executed":[167],"demonstrate":[169],"quality":[171],"obtained":[174],"performance":[179],"method.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":70},{"year":2024,"cited_by_count":61},{"year":2023,"cited_by_count":28},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}