{"id":"https://openalex.org/W4323055225","doi":"https://doi.org/10.1109/access.2023.3252018","title":"UAV Trajectory Planning for Complex Open Storage Environments Based on an Improved RRT Algorithm","display_name":"UAV Trajectory Planning for Complex Open Storage Environments Based on an Improved RRT Algorithm","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4323055225","doi":"https://doi.org/10.1109/access.2023.3252018"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3252018","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3252018","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10058520.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":null,"license_id":null,"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/ielx7/6287639/6514899/10058520.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009019923","display_name":"Jingcheng Zhang","orcid":"https://orcid.org/0000-0002-5641-1170"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]},{"id":"https://openalex.org/I2800556661","display_name":"China Tobacco","ror":"https://ror.org/030d08e08","country_code":"CN","type":"government","lineage":["https://openalex.org/I2800556661"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingcheng Zhang","raw_affiliation_strings":["Faculty of Science, Kunming University of Science and Technology, Kunming, China","Logistics Center, Hongyun Honghe Tobacco (Group) Co., Ltd, Yunnan, China","Faculty of Science, Kunming University of Science and Technology, Kunming, Yunnan, China"],"raw_orcid":"https://orcid.org/0000-0002-5641-1170","affiliations":[{"raw_affiliation_string":"Faculty of Science, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]},{"raw_affiliation_string":"Logistics Center, Hongyun Honghe Tobacco (Group) Co., Ltd, Yunnan, China","institution_ids":["https://openalex.org/I2800556661"]},{"raw_affiliation_string":"Faculty of Science, Kunming University of Science and Technology, Kunming, Yunnan, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074078416","display_name":"Yuqiang An","orcid":null},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]},{"id":"https://openalex.org/I2800556661","display_name":"China Tobacco","ror":"https://ror.org/030d08e08","country_code":"CN","type":"government","lineage":["https://openalex.org/I2800556661"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqiang An","raw_affiliation_strings":["Faculty of Management and Economics, Kunming University of Science and Technology, Kunming, China","Faculty of Management and Economics, Kunming University of Science and Technology, Kunming, Yunnan, China","Logistics Center, Hongyun Honghe Tobacco (Group) Co., Ltd, Yunnan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Management and Economics, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]},{"raw_affiliation_string":"Faculty of Management and Economics, Kunming University of Science and Technology, Kunming, Yunnan, China","institution_ids":["https://openalex.org/I10660446"]},{"raw_affiliation_string":"Logistics Center, Hongyun Honghe Tobacco (Group) Co., Ltd, Yunnan, China","institution_ids":["https://openalex.org/I2800556661"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034818309","display_name":"Jianing Cao","orcid":"https://orcid.org/0000-0002-9147-6068"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianing Cao","raw_affiliation_strings":["Faculty of Civil Aviation and Aeronautics, Kunming University of Science and Technology, Kunming, China","Faculty of Civil Aviation and Aeronautics, Kunming University of Science and Technology, Kunming, Yunnan, China"],"raw_orcid":"https://orcid.org/0000-0002-9147-6068","affiliations":[{"raw_affiliation_string":"Faculty of Civil Aviation and Aeronautics, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]},{"raw_affiliation_string":"Faculty of Civil Aviation and Aeronautics, Kunming University of Science and Technology, Kunming, Yunnan, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101217842","display_name":"Shibo Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I2800556661","display_name":"China Tobacco","ror":"https://ror.org/030d08e08","country_code":"CN","type":"government","lineage":["https://openalex.org/I2800556661"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shibo Ouyang","raw_affiliation_strings":["Logistics Center, Hongyun Honghe Tobacco (Group) Company Ltd., Kunming, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Logistics Center, Hongyun Honghe Tobacco (Group) Company Ltd., Kunming, China","institution_ids":["https://openalex.org/I2800556661"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100435773","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0001-7286-3559"},"institutions":[{"id":"https://openalex.org/I2800556661","display_name":"China Tobacco","ror":"https://ror.org/030d08e08","country_code":"CN","type":"government","lineage":["https://openalex.org/I2800556661"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Logistics Center, Hongyun Honghe Tobacco (Group) Company Ltd., Kunming, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Logistics Center, Hongyun Honghe Tobacco (Group) Company Ltd., Kunming, China","institution_ids":["https://openalex.org/I2800556661"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"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":4.6034,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.96070307,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"11","issue":null,"first_page":"23189","last_page":"23204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9929999709129333,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9902999997138977,"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/computer-science","display_name":"Computer science","score":0.7361835837364197},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7272379398345947},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.439065158367157},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3256438970565796}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7361835837364197},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7272379398345947},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.439065158367157},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3256438970565796},{"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":2,"locations":[{"id":"doi:10.1109/access.2023.3252018","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3252018","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10058520.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:4b23dff07f074889891675fd2aa20d18","is_oa":true,"landing_page_url":"https://doaj.org/article/4b23dff07f074889891675fd2aa20d18","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 11, Pp 23189-23204 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3252018","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3252018","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10058520.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6399999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323055225.pdf","grobid_xml":"https://content.openalex.org/works/W4323055225.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1854270966","https://openalex.org/W1971086298","https://openalex.org/W2750708784","https://openalex.org/W2783861674","https://openalex.org/W2793067206","https://openalex.org/W2806422435","https://openalex.org/W2883013658","https://openalex.org/W2891005336","https://openalex.org/W2909643277","https://openalex.org/W2965660127","https://openalex.org/W2973697444","https://openalex.org/W3037153075","https://openalex.org/W3044416008","https://openalex.org/W3123188912","https://openalex.org/W3124581711","https://openalex.org/W3162366242","https://openalex.org/W3214232139","https://openalex.org/W4205397442","https://openalex.org/W4205521763","https://openalex.org/W4286257257","https://openalex.org/W4286484425","https://openalex.org/W4324134829","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Multi-rotor":[0],"UAVs":[1],"(Unmanned":[2],"Aerial":[3],"Vehicles)":[4],"have":[5],"been":[6],"increasingly":[7],"used":[8],"for":[9,70,133,217],"hazardous":[10],"inspection":[11],"tasks":[12],"in":[13,84,160,177,181,185,190],"complex":[14,206],"open-air":[15],"warehouse":[16],"storage":[17,208],"environments":[18],"due":[19],"to":[20,31,127,149,205],"their":[21],"high":[22],"maneuverability":[23],"and":[24,34,57,78,116,122,152,158,188],"aerial":[25],"perspective.":[26],"To":[27],"facilitate":[28],"rapid":[29],"response":[30],"patrol":[32,53],"missions":[33],"improve":[35,128],"the":[36,71,85,95,101,105,110,118,124,129,136,140,143,168],"efficiency":[37,77],"of":[38,73,94,104,113,139,175],"UAV":[39,47,52,197,218],"trajectory":[40,48,55,198,219],"planning.":[41,220],"This":[42],"paper":[43],"established":[44],"a":[45,161,213],"rotary-wing":[46],"plan":[49],"model":[50],"considering":[51],"efficiency,":[54],"cost,":[56],"power":[58],"consumption":[59],"cost.":[60,192],"Secondly,":[61],"an":[62,172],"improved":[63],"SSA":[64],"(salp":[65],"swarm":[66],"algorithm)":[67],"is":[68,98,147],"incorporated":[69,99],"shortcomings":[72],"low":[74],"algorithmic":[75],"search":[76,125,132],"unsmooth":[79],"paths":[80,83],"when":[81],"planning":[82,199],"traditional":[86],"RRT":[87,106],"(Rapidly-exploring":[88],"Random":[89],"Trees).":[90],"The":[91,164],"predation":[92],"mechanism":[93],"salps":[96],"group":[97],"into":[100],"random":[102,114],"sampling":[103,112,178],"algorithm,":[107],"which":[108],"reduces":[109],"invalid":[111],"points":[115],"introduces":[117],"adaptive":[119],"leader":[120],"structure,":[121],"reverses":[123],"strategy":[126],"algorithm\u2019s":[130],"global":[131],"superiority":[134],"at":[135],"later":[137],"stage":[138],"search.":[141],"Finally,":[142],"designed":[144],"LASSA-RRT":[145,169],"algorithm":[146,170],"subjected":[148],"simulation":[150],"experiments":[151],"compared":[153],"with":[154],"RRT,":[155],"RRT*,":[156],"IRRT,":[157],"PF-RRT*":[159],"cross-sectional":[162],"manner.":[163],"results":[165],"show":[166],"that":[167],"has":[171],"average":[173],"reduction":[174],"55.83%":[176],"times,":[179],"51.91%":[180],"run":[182],"time,":[183],"13.17%":[184],"track":[186],"length,":[187],"0.1491%":[189],"flight":[191],"In":[193],"summary,":[194],"this":[195],"paper\u2019s":[196],"method":[200],"can":[201,211],"be":[202],"effectively":[203],"applied":[204],"open":[207],"environments.":[209],"It":[210],"provide":[212],"helpful":[214],"reference":[215],"direction":[216]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
