{"id":"https://openalex.org/W4413887387","doi":"https://doi.org/10.1109/tvt.2025.3604481","title":"Parking Trajectory Planning for Autonomous Mining Trucks: A Global Optimal Method Based on Divide-and-Conquer Strategy","display_name":"Parking Trajectory Planning for Autonomous Mining Trucks: A Global Optimal Method Based on Divide-and-Conquer Strategy","publication_year":2025,"publication_date":"2025-09-01","ids":{"openalex":"https://openalex.org/W4413887387","doi":"https://doi.org/10.1109/tvt.2025.3604481"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3604481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3604481","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/A5100346371","display_name":"Yiming Li","orcid":"https://orcid.org/0009-0007-7859-4987"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Li","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-7859-4987","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peng Chen","orcid":"https://orcid.org/0000-0002-8076-8989"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Chen","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8076-8989","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Han Li","orcid":"https://orcid.org/0000-0001-5136-7396"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Li","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5136-7396","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112785835","display_name":"Guoyan Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoyan Xu","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-6434-5537","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"last","author":{"id":null,"display_name":"Chuang Wang","orcid":"https://orcid.org/0009-0003-5795-2504"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuang Wang","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-5795-2504","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19335487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"75","issue":"2","first_page":"2026","last_page":"2042"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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":0.9987000226974487,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/truck","display_name":"Truck","score":0.8075392246246338},{"id":"https://openalex.org/keywords/divide-and-conquer-algorithms","display_name":"Divide and conquer algorithms","score":0.747910737991333},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6666386127471924},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48328617215156555},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4813414514064789},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3870426416397095},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36330974102020264},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.24076661467552185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22696766257286072},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11088842153549194},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08709561824798584}],"concepts":[{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.8075392246246338},{"id":"https://openalex.org/C71559656","wikidata":"https://www.wikidata.org/wiki/Q671298","display_name":"Divide and conquer algorithms","level":2,"score":0.747910737991333},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6666386127471924},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48328617215156555},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4813414514064789},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3870426416397095},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36330974102020264},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.24076661467552185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22696766257286072},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11088842153549194},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08709561824798584},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3604481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3604481","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":[],"awards":[{"id":"https://openalex.org/G297144773","display_name":null,"funder_award_id":"52272327","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":47,"referenced_works":["https://openalex.org/W1547013623","https://openalex.org/W1582919213","https://openalex.org/W1814533834","https://openalex.org/W1969483458","https://openalex.org/W1996183429","https://openalex.org/W2027311349","https://openalex.org/W2087617385","https://openalex.org/W2107338474","https://openalex.org/W2112271657","https://openalex.org/W2118382442","https://openalex.org/W2123871098","https://openalex.org/W2165216595","https://openalex.org/W2294538342","https://openalex.org/W2307155630","https://openalex.org/W2345973286","https://openalex.org/W2608378668","https://openalex.org/W2795523649","https://openalex.org/W2842089854","https://openalex.org/W2914872182","https://openalex.org/W2942698216","https://openalex.org/W2985562415","https://openalex.org/W3083074253","https://openalex.org/W3108081931","https://openalex.org/W3119563569","https://openalex.org/W3150271848","https://openalex.org/W3198919602","https://openalex.org/W3213712307","https://openalex.org/W4210607981","https://openalex.org/W4225814850","https://openalex.org/W4226078411","https://openalex.org/W4226335358","https://openalex.org/W4226381010","https://openalex.org/W4235623249","https://openalex.org/W4285108207","https://openalex.org/W4304480790","https://openalex.org/W4312819583","https://openalex.org/W4313039234","https://openalex.org/W4321174282","https://openalex.org/W4327662239","https://openalex.org/W4387885597","https://openalex.org/W4388430684","https://openalex.org/W4389943524","https://openalex.org/W4392638773","https://openalex.org/W4392827441","https://openalex.org/W4394770855","https://openalex.org/W4401357295","https://openalex.org/W4403390416"],"related_works":["https://openalex.org/W2151768624","https://openalex.org/W2214078930","https://openalex.org/W3122052772","https://openalex.org/W561646759","https://openalex.org/W1983537108","https://openalex.org/W1974098980","https://openalex.org/W630632068","https://openalex.org/W587064707","https://openalex.org/W602275442","https://openalex.org/W4205159025"],"abstract_inverted_index":{"Parking":[0],"trajectory":[1,31,78,142],"planning":[2,79],"in":[3,103],"loading/dumping":[4],"areas":[5],"of":[6,26,68],"open-pit":[7],"mines":[8],"presents":[9,73],"unique":[10],"challenges":[11],"compared":[12],"to":[13,51,63,111,143],"standard":[14],"parking":[15],"scenarios":[16],"for":[17],"passenger":[18],"vehicles.":[19],"These":[20],"include":[21],"irregular":[22],"workspaces,":[23],"kinematic":[24],"constraints":[25,56],"heavy":[27],"trucks,":[28],"and":[29,60,115,148,162],"customized":[30],"requirements,":[32],"which":[33],"collectively":[34],"formulate":[35],"a":[36,74,83,135],"mixed-integer":[37],"nonlinear":[38],"programming":[39],"(MINLP)":[40],"problem":[41,131],"with":[42],"non-differentiable":[43,113],"logical":[44,54],"condition":[45],"constraints.":[46],"Mainstream":[47],"MINLP":[48],"solvers":[49],"struggle":[50],"directly":[52],"handle":[53],"conditional":[55],"involving":[57],"integer":[58],"variables":[59,114],"usually":[61],"fail":[62],"meet":[64],"the":[65,88,92,104,121,126,130,140,157],"real-time":[66],"requirements":[67],"practical":[69],"applications.":[70],"This":[71],"study":[72],"nearly":[75],"global":[76,122],"optimal":[77,123],"method":[80,100,154],"that":[81,152],"developed":[82],"search-then-optimize":[84],"framework":[85],"based":[86],"on":[87],"divide-and-conquer":[89],"strategy,":[90],"separating":[91],"difficulties":[93],"into":[94],"distinct":[95],"stages.":[96],"A":[97],"multiple-priority-queue":[98],"search-based":[99],"is":[101,132],"introduced":[102],"search":[105],"stage,":[106,129],"leveraging":[107],"its":[108],"gradient-free":[109],"nature":[110],"tackle":[112],"generate":[116],"an":[117],"initial":[118,141],"solution":[119],"near":[120],"solution.":[124],"In":[125],"numerical":[127],"optimization":[128],"reformulated":[133],"as":[134],"fully":[136],"differentiable":[137],"NLP,":[138],"refining":[139],"enhance":[144],"quality.":[145],"Extensive":[146],"simulations":[147],"real-vehicle":[149],"tests":[150],"confirm":[151],"this":[153],"effectively":[155],"addresses":[156],"above":[158],"difficulties,":[159],"producing":[160],"efficient":[161],"trackable":[163],"trajectories.":[164]},"counts_by_year":[],"updated_date":"2026-02-13T13:36:01.753593","created_date":"2025-10-10T00:00:00"}