{"id":"https://openalex.org/W4387527499","doi":"https://doi.org/10.1142/s2301385024420044","title":"A Deep Reinforcement Learning Approach for UAV Path Planning Incorporating Vehicle Dynamics with Acceleration Control","display_name":"A Deep Reinforcement Learning Approach for UAV Path Planning Incorporating Vehicle Dynamics with Acceleration Control","publication_year":2023,"publication_date":"2023-10-11","ids":{"openalex":"https://openalex.org/W4387527499","doi":"https://doi.org/10.1142/s2301385024420044"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385024420044","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385024420044","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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/A5029754299","display_name":"Sina Sabzekar","orcid":"https://orcid.org/0000-0001-8368-2307"},"institutions":[{"id":"https://openalex.org/I133529467","display_name":"Sharif University of Technology","ror":"https://ror.org/024c2fq17","country_code":"IR","type":"education","lineage":["https://openalex.org/I133529467"]},{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Sina Sabzekar","raw_affiliation_strings":["Department of Civil Engineering, Sharif University of Technology, Tehran, Iran","School of Civil Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-8368-2307","affiliations":[{"raw_affiliation_string":"Department of Civil Engineering, Sharif University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]},{"raw_affiliation_string":"School of Civil Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006865819","display_name":"Mahdi Samadzad","orcid":"https://orcid.org/0000-0002-0190-3530"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Mahdi Samadzad","raw_affiliation_strings":["School of Civil Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-0190-3530","affiliations":[{"raw_affiliation_string":"School of Civil Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027278659","display_name":"Asal Mehditabrizi","orcid":"https://orcid.org/0000-0003-2875-4579"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["IR","US"],"is_corresponding":false,"raw_author_name":"Asal Mehditabrizi","raw_affiliation_strings":["Maryland Transportation Institute, University of Maryland, College Park, Maryland, USA","School of Civil Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0003-2875-4579","affiliations":[{"raw_affiliation_string":"Maryland Transportation Institute, University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"School of Civil Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043676212","display_name":"Ala Nekouvaght Tak","orcid":"https://orcid.org/0000-0001-6735-7571"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ala Nekouvaght Tak","raw_affiliation_strings":["Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6735-7571","affiliations":[{"raw_affiliation_string":"Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006865819"],"corresponding_institution_ids":["https://openalex.org/I23946033"],"apc_list":null,"apc_paid":null,"fwci":2.3549,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.90675002,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"12","issue":"03","first_page":"477","last_page":"498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9853000044822693,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8307712078094482},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7591891288757324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7022170424461365},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6444913148880005},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6025216579437256},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4905966818332672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4750770926475525},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4576283097267151},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4511231780052185},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4435368776321411},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43386155366897583},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.41448336839675903},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3948928415775299},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18411189317703247},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12325230240821838},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07702884078025818}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8307712078094482},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7591891288757324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7022170424461365},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6444913148880005},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6025216579437256},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4905966818332672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4750770926475525},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4576283097267151},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4511231780052185},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4435368776321411},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43386155366897583},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.41448336839675903},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3948928415775299},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18411189317703247},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12325230240821838},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07702884078025818},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385024420044","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385024420044","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W1681019253","https://openalex.org/W2017957151","https://openalex.org/W2145339207","https://openalex.org/W2560796797","https://openalex.org/W2573269332","https://openalex.org/W2735864617","https://openalex.org/W2755553401","https://openalex.org/W2761873684","https://openalex.org/W2766447205","https://openalex.org/W2803550942","https://openalex.org/W2806824292","https://openalex.org/W2810217655","https://openalex.org/W2888116234","https://openalex.org/W2889763693","https://openalex.org/W2899746873","https://openalex.org/W2907916537","https://openalex.org/W2909467077","https://openalex.org/W2913448405","https://openalex.org/W2923115009","https://openalex.org/W2955850878","https://openalex.org/W2962887844","https://openalex.org/W2962890638","https://openalex.org/W2963428623","https://openalex.org/W2963569053","https://openalex.org/W2970508394","https://openalex.org/W2971481292","https://openalex.org/W2973129633","https://openalex.org/W2990138404","https://openalex.org/W2991625383","https://openalex.org/W3005243570","https://openalex.org/W3006799860","https://openalex.org/W3021626167","https://openalex.org/W3045055884","https://openalex.org/W3046474649","https://openalex.org/W3091703254","https://openalex.org/W3093365091","https://openalex.org/W3094546435","https://openalex.org/W3094855913","https://openalex.org/W3104736433","https://openalex.org/W3111740206","https://openalex.org/W3128357552","https://openalex.org/W3142824457","https://openalex.org/W3152878473","https://openalex.org/W3160952489","https://openalex.org/W3164923438","https://openalex.org/W3180097365","https://openalex.org/W3194538352","https://openalex.org/W3194726615","https://openalex.org/W3201913099","https://openalex.org/W3207856687","https://openalex.org/W3212532412","https://openalex.org/W4205255149","https://openalex.org/W4210643767","https://openalex.org/W4214486317","https://openalex.org/W4223954537","https://openalex.org/W4226025746","https://openalex.org/W4226142707","https://openalex.org/W4282970004","https://openalex.org/W4283164305","https://openalex.org/W4286496598","https://openalex.org/W4295529346","https://openalex.org/W4313431617","https://openalex.org/W4318479101","https://openalex.org/W4323338559","https://openalex.org/W4324064308","https://openalex.org/W4328103195"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"are":[4],"experiencing":[5],"a":[6,60,94,120,125],"rapid":[7],"expansion":[8],"in":[9,38,137],"their":[10,42],"applications":[11],"across":[12],"various":[13],"domains,":[14],"including":[15],"goods":[16],"delivery,":[17],"video":[18],"capturing,":[19],"and":[20,33,75,141,182],"traffic":[21],"control.":[22],"The":[23,156],"crucial":[24],"aspect":[25],"for":[26,68,118],"UAVs":[27],"to":[28,50,52,132,165,186],"execute":[29],"successful":[30],"target":[31,139],"tracking":[32,140],"obstacle":[34,142],"avoidance":[35,143],"maneuvers":[36],"lies":[37],"the":[39,53,84,87,103,111,134,153,161,167,174,178],"accuracy":[40],"of":[41,56,86,105,128,177],"path":[43],"planning":[44],"operations.":[45],"This":[46],"research":[47],"paper":[48],"aims":[49],"contribute":[51],"existing":[54,187],"body":[55],"knowledge":[57],"by":[58],"presenting":[59],"novel":[61],"model":[62],"that":[63,160],"incorporates":[64],"acceleration":[65],"control,":[66],"accounting":[67],"changing":[69],"variables":[70],"such":[71],"as":[72,93],"UAV":[73,162,180],"velocity":[74],"altitude,":[76],"while":[77],"also":[78],"incorporating":[79],"vehicle":[80],"dynamics.":[81],"To":[82],"enhance":[83],"realism":[85],"model,":[88],"we":[89,99,145],"include":[90],"drag":[91],"force":[92],"factor.":[95],"In":[96,130],"this":[97],"study,":[98],"focus":[100],"on":[101,152],"exploring":[102],"potential":[104],"deep":[106,112],"reinforcement":[107],"learning":[108],"(DRL),":[109],"specifically":[110],"deterministic":[113],"policy":[114],"gradient":[115],"(DDPG)":[116],"algorithm,":[117],"modeling":[119,181],"3D":[121],"continuous":[122,126],"environment":[123],"with":[124],"set":[127],"actions.":[129],"order":[131],"improve":[133],"UAV\u2019s":[135],"performance":[136,176],"executing":[138],"maneuvers,":[144],"propose":[146],"an":[147],"innovative":[148],"reward":[149,183],"function":[150,184],"based":[151],"inner":[154],"product.":[155],"training":[157],"results":[158,172],"show":[159],"successfully":[163],"learns":[164],"perform":[166],"aforementioned":[168],"tasks.":[169],"Also,":[170],"simulation":[171],"demonstrate":[173],"superior":[175],"proposed":[179],"compared":[185],"works.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}