{"id":"https://openalex.org/W2970546840","doi":"https://doi.org/10.1109/access.2019.2937668","title":"Longitudinal and Lateral Trajectory Planning for the Typical Duty Cycle of Autonomous Load Haul Dump","display_name":"Longitudinal and Lateral Trajectory Planning for the Typical Duty Cycle of Autonomous Load Haul Dump","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2970546840","doi":"https://doi.org/10.1109/access.2019.2937668","mag":"2970546840"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2937668","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937668","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08813021.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08813021.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063576030","display_name":"Qing Gu","orcid":"https://orcid.org/0000-0002-8293-2201"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Gu","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8293-2201","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418896","display_name":"Li Liu","orcid":"https://orcid.org/0000-0003-1807-5492"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Liu","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000217839","display_name":"Guoxing Bai","orcid":"https://orcid.org/0000-0002-7666-4503"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoxing Bai","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7666-4503","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053932014","display_name":"Kailun Li","orcid":"https://orcid.org/0000-0003-0811-0135"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kailun Li","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002513436","display_name":"Yu Meng","orcid":"https://orcid.org/0000-0002-7351-9570"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Meng","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7351-9570","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054831684","display_name":"Fei Ma","orcid":"https://orcid.org/0000-0001-7941-8773"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Ma","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5084,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.69546664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"126679","last_page":"126695"},"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":0.9951000213623047,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9925000071525574,"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/trajectory","display_name":"Trajectory","score":0.7686383724212646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5781704783439636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.553427517414093},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.48786497116088867},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.46459269523620605},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4613165557384491},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.43890005350112915},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4247579872608185},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33629849553108215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26578500866889954},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1951422393321991},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15671709179878235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11986526846885681},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08649033308029175}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7686383724212646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5781704783439636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.553427517414093},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.48786497116088867},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.46459269523620605},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4613165557384491},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.43890005350112915},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4247579872608185},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33629849553108215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26578500866889954},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1951422393321991},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15671709179878235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11986526846885681},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08649033308029175},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2937668","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937668","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08813021.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d93be273b1c44d3997c061269e6c93c9","is_oa":true,"landing_page_url":"https://doaj.org/article/d93be273b1c44d3997c061269e6c93c9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 126679-126695 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2937668","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937668","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08813021.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1859397686","display_name":null,"funder_award_id":"2016YFC0802905","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"},{"id":"https://openalex.org/G2074322492","display_name":null,"funder_award_id":"FRF-TP-17-010A2","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2854873228","display_name":null,"funder_award_id":"2018YFC0604403","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4498354731","display_name":null,"funder_award_id":"2016YFC0802905","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6682803109","display_name":null,"funder_award_id":"2018YFC0604403","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"}],"funders":[{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2970546840.pdf","grobid_xml":"https://content.openalex.org/works/W2970546840.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W29052388","https://openalex.org/W182572278","https://openalex.org/W1976467619","https://openalex.org/W1983948265","https://openalex.org/W1996183429","https://openalex.org/W2000140632","https://openalex.org/W2000359213","https://openalex.org/W2032924574","https://openalex.org/W2050329816","https://openalex.org/W2071401582","https://openalex.org/W2098585519","https://openalex.org/W2107338474","https://openalex.org/W2128990851","https://openalex.org/W2144293566","https://openalex.org/W2146511219","https://openalex.org/W2148361676","https://openalex.org/W2150470170","https://openalex.org/W2151977651","https://openalex.org/W2155683259","https://openalex.org/W2241986963","https://openalex.org/W2306644740","https://openalex.org/W2325038357","https://openalex.org/W2343726552","https://openalex.org/W2579576087","https://openalex.org/W2734615402","https://openalex.org/W2782393959","https://openalex.org/W2793611744","https://openalex.org/W2933230972","https://openalex.org/W2963214840","https://openalex.org/W6607536730","https://openalex.org/W6731781547"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670"],"abstract_inverted_index":{"With":[0],"the":[1,10,22,30,33,38,55,62,68,71,97,114,150,160,169,180,189,194,198,208,214,217,227,233,238,243,247,254,263,266,270],"development":[2],"of":[3,13,25,37,61,96,146,152,164,179,197,210,216,257,265],"intelligent":[4,14],"mining,":[5],"autonomous":[6,26,127],"driving":[7],"will":[8],"be":[9,76],"basic":[11],"function":[12],"Load":[15],"Haul":[16],"Dump":[17],"(LHD).":[18],"Trajectory":[19],"planning":[20,93,122,158],"is":[21,80,124,149,250,278],"key":[23],"part":[24],"driving.":[27],"Due":[28],"to":[29,47,90,108,113,134,230,273,280],"articulated":[31,56,258],"structure,":[32],"motion":[34],"state":[35],"variables":[36],"front":[39],"and":[40,58,94,137,155,192,213,241,252,283],"rear":[41,199],"bodies":[42],"are":[43,175,186,201],"strongly":[44],"nonlinear,":[45],"leading":[46,133],"complex":[48],"nonlinear":[49,211],"collision":[50,195],"avoidance":[51],"constraints.":[52,66],"In":[53,106],"addition,":[54],"angle":[57],"angular":[59,245],"velocity":[60],"LHD":[63,79,91,128],"have":[64],"physically":[65],"At":[67,232],"same":[69,234],"time,":[70,235],"terminal":[72],"attitude":[73],"constraint":[74],"should":[75],"considered":[77],"since":[78],"a":[81,119,135,153,222,275],"mining":[82],"equipment.":[83],"All":[84],"these":[85,103,110],"factors":[86,104],"bring":[87],"great":[88],"difficulties":[89],"trajectory":[92,121,140,157,249,277],"none":[95],"existing":[98],"methods":[99],"can":[100,219],"deal":[101],"with":[102],"directly.":[105],"order":[107],"solve":[109],"problems,":[111],"according":[112],"most":[115],"common":[116],"working":[117],"scenario,":[118],"novel":[120],"method":[123,272],"proposed":[125,181,267,271],"for":[126,141,159,172],"based":[129],"on":[130],"numerical":[131],"optimization,":[132],"safe":[136],"feasible":[138],"time-space":[139],"efficient":[142],"production.":[143],"The":[144],"novelty":[145],"this":[147,206],"work":[148],"introduction":[151],"longitudinal":[154],"lateral":[156],"typical":[161],"duty":[162],"cycle":[163],"LHD.":[165],"More":[166],"importantly,":[167],"by":[168,236],"ingenious":[170],"concept":[171],"modeling,":[173],"there":[174],"two":[176],"salient":[177],"features":[178],"method.":[182,268],"Firstly,":[183],"no":[184],"angles":[185],"used":[187],"as":[188],"decision":[190],"variable,":[191],"secondly,":[193],"constraints":[196,212,256],"car":[200],"not":[202],"directly":[203],"considered.":[204],"Through":[205],"way,":[207],"number":[209],"complexity":[215],"model":[218,228],"keep":[220],"in":[221],"reasonable":[223],"level,":[224],"which":[225],"makes":[226],"easy":[229],"solve.":[231],"giving":[237],"collision-free":[239,251],"condition":[240],"limiting":[242],"heading":[244],"velocity,":[246],"generated":[248],"satisfies":[253],"physical":[255],"angle.":[259],"Case":[260],"studies":[261],"confirm":[262],"effectiveness":[264],"Adopting":[269],"generate":[274],"spatiotemporal":[276],"beneficial":[279],"ensure":[281],"safety":[282],"improve":[284],"production":[285],"efficiency.":[286]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}