{"id":"https://openalex.org/W4400063643","doi":"https://doi.org/10.1109/tvt.2024.3410183","title":"A Potential Field-Based Model Predictive Target Following Controller for Underactuated Unmanned Surface Vehicles","display_name":"A Potential Field-Based Model Predictive Target Following Controller for Underactuated Unmanned Surface Vehicles","publication_year":2024,"publication_date":"2024-06-26","ids":{"openalex":"https://openalex.org/W4400063643","doi":"https://doi.org/10.1109/tvt.2024.3410183"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3410183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3410183","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5001330886","display_name":"Sen Han","orcid":"https://orcid.org/0000-0001-6105-1133"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sen Han","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0000-0001-6105-1133","affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088217206","display_name":"Jiahao Sun","orcid":"https://orcid.org/0009-0009-6835-4394"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Sun","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0009-0009-6835-4394","affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063009716","display_name":"Shifeng Ding","orcid":"https://orcid.org/0000-0002-7594-5119"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shifeng Ding","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081045402","display_name":"Li Zhou","orcid":"https://orcid.org/0000-0003-2142-2811"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhou","raw_affiliation_strings":["School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2142-2811","affiliations":[{"raw_affiliation_string":"School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001330886"],"corresponding_institution_ids":["https://openalex.org/I4210096899"],"apc_list":null,"apc_paid":null,"fwci":5.9474,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96803647,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"73","issue":"10","first_page":"14510","last_page":"14524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9843999743461609,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9843999743461609,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9664000272750854,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9556999802589417,"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/underactuation","display_name":"Underactuation","score":0.9010609984397888},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.6016431450843811},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5437094569206238},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4947928786277771},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4933878481388092},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47711995244026184},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4593944549560547},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44911232590675354},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.42823129892349243},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40646135807037354},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.36303383111953735},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.20935270190238953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15996718406677246},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11940383911132812},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07824385166168213}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9010609984397888},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.6016431450843811},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5437094569206238},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4947928786277771},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4933878481388092},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47711995244026184},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4593944549560547},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44911232590675354},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.42823129892349243},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40646135807037354},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.36303383111953735},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.20935270190238953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15996718406677246},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11940383911132812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07824385166168213},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3410183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3410183","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G5631848145","display_name":null,"funder_award_id":"2022YFE0107000","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W2002440441","https://openalex.org/W2074547849","https://openalex.org/W2095555102","https://openalex.org/W2103120971","https://openalex.org/W2103465449","https://openalex.org/W2117211893","https://openalex.org/W2345644119","https://openalex.org/W2484617215","https://openalex.org/W2492811885","https://openalex.org/W2524886531","https://openalex.org/W2810853065","https://openalex.org/W2891102204","https://openalex.org/W2901325952","https://openalex.org/W3009423519","https://openalex.org/W3020860072","https://openalex.org/W3023077548","https://openalex.org/W3128262367","https://openalex.org/W3149383640","https://openalex.org/W3172626468","https://openalex.org/W3176757096","https://openalex.org/W3179921552","https://openalex.org/W3187936759","https://openalex.org/W3192590081","https://openalex.org/W3214475529","https://openalex.org/W4200080422","https://openalex.org/W4206494026","https://openalex.org/W4229039643","https://openalex.org/W4281859394","https://openalex.org/W4293759919","https://openalex.org/W4311138497","https://openalex.org/W4312143561","https://openalex.org/W4315474734","https://openalex.org/W4316876987","https://openalex.org/W4318162656","https://openalex.org/W4319449803","https://openalex.org/W4319996475","https://openalex.org/W4366545312","https://openalex.org/W4367048065","https://openalex.org/W4378512803","https://openalex.org/W4382118990","https://openalex.org/W4382293167","https://openalex.org/W4391554447","https://openalex.org/W4392030711","https://openalex.org/W4392166626","https://openalex.org/W4392843908"],"related_works":["https://openalex.org/W4313405128","https://openalex.org/W4394589559","https://openalex.org/W128654086","https://openalex.org/W4394928708","https://openalex.org/W2014917749","https://openalex.org/W4396661353","https://openalex.org/W2082979751","https://openalex.org/W2350662733","https://openalex.org/W2066999351","https://openalex.org/W2572726358"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,25,29,63,80,117],"target":[4,141],"following":[5,142],"controller":[6,120,143],"for":[7,78,148],"collision":[8,34,55,155],"avoidance":[9,56],"of":[10,45,101,153],"underactuated":[11],"unmanned":[12],"surface":[13],"vehicles":[14],"(USVs).":[15],"The":[16,42,136,157],"primary":[17],"aim":[18],"is":[19,48,76,121,144],"to":[20,28,96],"control":[21,67],"the":[22,49,84,132,163],"USV":[23,86,133,170],"from":[24],"starting":[26],"point":[27],"predetermined":[30],"destination":[31],"while":[32],"avoiding":[33],"with":[35,98,131,168],"stationary":[36],"obstacles":[37,102,164],"and":[38,57,88,103,113,146,165],"other":[39],"moving":[40],"vessels.":[41],"distinctive":[43],"feature":[44],"this":[46],"approach":[47],"coherent":[50],"combination":[51],"among":[52],"path":[53,82],"planning,":[54],"motion":[58],"control,":[59],"all":[60],"gathered":[61],"in":[62,110],"nonlinear":[64,118],"model":[65,139],"predictive":[66,140],"(MPC)":[68],"framework:":[69],"i)":[70],"an":[71],"adaptive":[72],"steering-constrained":[73],"Theta*":[74],"(ASC-Theta*)":[75],"proposed":[77],"generating":[79],"collision-free":[81],"considering":[83],"initial":[85],"heading":[87],"turning":[89],"angle;":[90],"ii)":[91],"potential":[92,128,137],"functions":[93,129],"are":[94],"formulated":[95],"comply":[97],"various":[99],"types":[100],"COLREGs":[104,167],"structures,":[105],"hence":[106],"ensuring":[107],"safe":[108],"navigation":[109],"narrow":[111],"waters":[112],"complicated":[114],"scenarios;":[115],"iii)":[116],"MPC":[119],"designed":[122],"such":[123],"that":[124,160],"its":[125],"objective":[126],"includes":[127],"along":[130],"dynamics":[134],"terms.":[135],"field-based":[138],"modeled":[145],"simulated":[147],"some":[149],"intricate":[150],"test":[151],"scenarios":[152],"multi-USVs":[154],"avoidance.":[156],"results":[158],"show":[159],"USVs":[161],"avoid":[162],"observe":[166],"appropriate":[169],"dynamics.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}