{"id":"https://openalex.org/W4221063239","doi":"https://doi.org/10.1109/tnnls.2022.3156907","title":"Research on Obstacle Detection and Avoidance of Autonomous Underwater Vehicle Based on Forward-Looking Sonar","display_name":"Research on Obstacle Detection and Avoidance of Autonomous Underwater Vehicle Based on Forward-Looking Sonar","publication_year":2022,"publication_date":"2022-03-16","ids":{"openalex":"https://openalex.org/W4221063239","doi":"https://doi.org/10.1109/tnnls.2022.3156907","pmid":"https://pubmed.ncbi.nlm.nih.gov/35294362"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2022.3156907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3156907","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Xiang Cao","orcid":"https://orcid.org/0000-0003-2448-6693"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Cao","raw_affiliation_strings":["School of Artificial Intelligence, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-2448-6693","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lu Ren","orcid":"https://orcid.org/0000-0002-4530-8397"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Ren","raw_affiliation_strings":["School of Artificial Intelligence, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-4530-8397","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":null,"display_name":"Changyin Sun","orcid":"https://orcid.org/0000-0001-9269-334X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyin Sun","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9269-334X","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.1284,"has_fulltext":false,"cited_by_count":100,"citation_normalized_percentile":{"value":0.99434404,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"34","issue":"11","first_page":"9198","last_page":"9208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.5322999954223633,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.5322999954223633,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.04170000180602074,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.04100000113248825,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/obstacle","display_name":"Obstacle","score":0.9143000245094299},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.8855000138282776},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8392000198364258},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4717000126838684},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.40380001068115234},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4020000100135803},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.3901999890804291},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.37869998812675476}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.9143000245094299},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.8855000138282776},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8392000198364258},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.678600013256073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6643999814987183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6078000068664551},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4717000126838684},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.40380001068115234},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4020000100135803},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.3901999890804291},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.37869998812675476},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.36660000681877136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3273000121116638},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29120001196861267},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2793000042438507},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.274399995803833},{"id":"https://openalex.org/C3019361169","wikidata":"https://www.wikidata.org/wiki/Q2609467","display_name":"Detection threshold","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26100000739097595},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.25870001316070557}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2022.3156907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3156907","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:35294362","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35294362","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1654982242","display_name":null,"funder_award_id":"U1713209","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2989479301","display_name":null,"funder_award_id":"2017M621587","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3354177581","display_name":null,"funder_award_id":"BK20171270","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G3387023361","display_name":null,"funder_award_id":"61773177","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5033343354","display_name":null,"funder_award_id":"61921004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7860810449","display_name":null,"funder_award_id":"1701076B","funder_id":"https://openalex.org/F4320335471","funder_display_name":"Jiangsu Planned Projects for Postdoctoral Research Funds"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335471","display_name":"Jiangsu Planned Projects for Postdoctoral Research Funds","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2026420882","https://openalex.org/W2112724282","https://openalex.org/W2164313740","https://openalex.org/W2345111710","https://openalex.org/W2479429355","https://openalex.org/W2512422503","https://openalex.org/W2563106436","https://openalex.org/W2587082285","https://openalex.org/W2795298767","https://openalex.org/W2884367402","https://openalex.org/W2901280477","https://openalex.org/W2906119173","https://openalex.org/W2942303794","https://openalex.org/W2947463580","https://openalex.org/W2957623867","https://openalex.org/W2963447950","https://openalex.org/W2995328663","https://openalex.org/W2997682172","https://openalex.org/W3004946915","https://openalex.org/W3011713054","https://openalex.org/W3011823031","https://openalex.org/W3014235391","https://openalex.org/W3017071492","https://openalex.org/W3028607900","https://openalex.org/W3033102023","https://openalex.org/W3046629544","https://openalex.org/W3047190427","https://openalex.org/W3048954714","https://openalex.org/W3082752092","https://openalex.org/W3084926325","https://openalex.org/W3085844478","https://openalex.org/W3115555276","https://openalex.org/W3121236520","https://openalex.org/W3127151507","https://openalex.org/W3130118060","https://openalex.org/W3135458038","https://openalex.org/W3158623384","https://openalex.org/W3183285462"],"related_works":[],"abstract_inverted_index":{"Due":[0],"to":[1,75,104,131],"the":[2,5,21,34,67,86,91,97,110,116,145,159,162],"complexity":[3],"of":[4,138,155],"ocean":[6],"environment,":[7],"an":[8,42,47,119,139],"autonomous":[9],"underwater":[10,24],"vehicle":[11],"(AUV)":[12],"is":[13,29,62,102,129],"disturbed":[14],"by":[15,37],"obstacles":[16,106],"when":[17],"performing":[18],"tasks.":[19],"Therefore,":[20],"research":[22],"on":[23,33,41,96,124],"obstacle":[25,48,57,77,88,92,111,120,135,149,172],"detection":[26,49,60,93,112,150],"and":[27,50,152],"avoidance":[28,51,121,136],"particularly":[30],"important.":[31],"Based":[32],"images":[35],"collected":[36],"a":[38,54,81,133,170],"forward-looking":[39],"sonar":[40,82,117,156],"AUV,":[43],"this":[44],"article":[45],"proposes":[46],"algorithm.":[52],"First,":[53],"deep":[55,125],"learning-based":[56],"candidate":[58,78,89],"area":[59],"algorithm":[61,65,94,101,122],"developed.":[63],"This":[64],"uses":[66],"You":[68],"Only":[69],"Look":[70],"Once":[71],"(YOLO)":[72],"v3":[73],"network":[74],"determine":[76],"areas":[79],"in":[80,85,169],"image.":[83],"Then,":[84],"determined":[87],"areas,":[90],"based":[95,123],"improved":[98],"threshold":[99],"segmentation":[100],"used":[103],"detect":[105],"accurately.":[107],"Finally,":[108],"using":[109],"results":[113,142],"obtained":[114],"from":[115],"images,":[118],"reinforcement":[126],"learning":[127],"(DRL)":[128],"developed":[130],"plan":[132],"reasonable":[134],"path":[137],"AUV.":[140],"Experimental":[141],"show":[143],"that":[144],"proposed":[146,163],"algorithms":[147,164],"improve":[148],"accuracy":[151],"processing":[153],"speed":[154],"images.":[157],"At":[158],"same":[160],"time,":[161],"ensure":[165],"AUV":[166],"navigation":[167],"safety":[168],"complex":[171],"environment.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":38},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2022-04-03T00:00:00"}
