{"id":"https://openalex.org/W4390266188","doi":"https://doi.org/10.1142/s2301385025500244","title":"A Greedy-Strategy-Based Iterative Optimization Method for Articulated Vehicle Global Trajectory Optimization in Complex Environments","display_name":"A Greedy-Strategy-Based Iterative Optimization Method for Articulated Vehicle Global Trajectory Optimization in Complex Environments","publication_year":2023,"publication_date":"2023-12-27","ids":{"openalex":"https://openalex.org/W4390266188","doi":"https://doi.org/10.1142/s2301385025500244"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385025500244","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025500244","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/A5071650459","display_name":"Bikang Hua","orcid":"https://orcid.org/0009-0001-7479-8807"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bikang Hua","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","E-mail Address: [email\u00a0protected]"],"raw_orcid":"https://orcid.org/0009-0001-7479-8807","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"E-mail Address: [email\u00a0protected]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Runqi Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","E-mail Address: [email\u00a0protected]"],"raw_orcid":"https://orcid.org/0000-0003-4083-8863","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"E-mail Address: [email\u00a0protected]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056539856","display_name":"Kaiyuan Chen","orcid":"https://orcid.org/0000-0001-5165-0802"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210126646","display_name":"Vanke (China)","ror":"https://ror.org/0329dzd04","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126646"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kaiyuan Chen","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","Vanke School of Public Health, Tsinghua University, Beijing 100084, P.\u00a0R.\u00a0China","E-mail Address: [email\u00a0protected]"],"raw_orcid":"https://orcid.org/0000-0001-5165-0802","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Vanke School of Public Health, Tsinghua University, Beijing 100084, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4210126646"]},{"raw_affiliation_string":"E-mail Address: [email\u00a0protected]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055597084","display_name":"Hankun Jiang","orcid":"https://orcid.org/0000-0001-6234-8641"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hankun Jiang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","E-mail Address: [email\u00a0protected]"],"raw_orcid":"https://orcid.org/0000-0001-6234-8641","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"E-mail Address: [email\u00a0protected]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070349528","display_name":"Senchun Chai","orcid":"https://orcid.org/0000-0003-1910-1795"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senchun Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","E-mail Address: [email\u00a0protected]"],"raw_orcid":"https://orcid.org/0000-0003-1910-1795","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"E-mail Address: [email\u00a0protected]","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","E-mail Address: [email\u00a0protected]"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"E-mail Address: [email\u00a0protected]","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5024866488","https://openalex.org/A5056539856"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210126646","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.3415,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6082876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"13","issue":"02","first_page":"413","last_page":"426"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996399998664856,"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":0.996399998664856,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9829000234603882,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.932699978351593,"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/trajectory-optimization","display_name":"Trajectory optimization","score":0.6744853258132935},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6519094705581665},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6028605699539185},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5452589988708496},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.4820621609687805},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20567408204078674},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16457974910736084},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.1059739887714386}],"concepts":[{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6744853258132935},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6519094705581665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6028605699539185},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5452589988708496},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.4820621609687805},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20567408204078674},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16457974910736084},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.1059739887714386},{"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:10.1142/s2301385025500244","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025500244","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1978367897","https://openalex.org/W1984884934","https://openalex.org/W2123871098","https://openalex.org/W2165951625","https://openalex.org/W2318843407","https://openalex.org/W2338687951","https://openalex.org/W2587415290","https://openalex.org/W2601163767","https://openalex.org/W2606365885","https://openalex.org/W2617691866","https://openalex.org/W2740589700","https://openalex.org/W2768256814","https://openalex.org/W2792295326","https://openalex.org/W2798000375","https://openalex.org/W2901632364","https://openalex.org/W2901820271","https://openalex.org/W2911508432","https://openalex.org/W2967606622","https://openalex.org/W2981547524","https://openalex.org/W2982127417","https://openalex.org/W3012094855","https://openalex.org/W3023830629","https://openalex.org/W3086566408","https://openalex.org/W3095795506","https://openalex.org/W3106851932","https://openalex.org/W3115747676","https://openalex.org/W3126834919","https://openalex.org/W3140133525","https://openalex.org/W3200051743","https://openalex.org/W3217416476","https://openalex.org/W4229967540","https://openalex.org/W4232598359"],"related_works":["https://openalex.org/W2904060783","https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2886240924"],"abstract_inverted_index":{"This":[0,29],"paper":[1],"considers":[2],"the":[3,45,51,57,66,89,97,109,124,149,159],"problem":[4,17,22],"of":[5,32,108,120,161],"trajectory":[6,59],"planning":[7],"for":[8,117],"articulated":[9,121],"vehicles":[10],"in":[11,61,103,148,175],"complex":[12,104],"environments.":[13],"We":[14],"formulate":[15],"this":[16],"as":[18,131],"an":[19,38,132],"optimal":[20],"control":[21],"(OCP)":[23],"and":[24,94,123],"propose":[25],"a":[26,73,145,171],"greedy-strategy-based":[27,74],"planner.":[28],"planner":[30,111],"consists":[31],"three":[33],"stages.":[34],"In":[35,48,70],"stage":[36,49,62,71],"1,":[37],"IAA*":[39],"algorithm":[40,168],"is":[41,79,112,115],"proposed":[42,110,125],"to":[43,64,83,96,135,179],"identify":[44],"homotopy":[46],"class.":[47],"2,":[50],"collision-free":[52],"tunnels":[53],"are":[54],"constructed":[55],"along":[56],"guiding":[58],"generated":[60],"1":[63],"simplify":[65],"intractable":[67],"collision-avoidance":[68],"constraints.":[69],"3,":[72],"iterative":[75],"optimization":[76,90,126,176],"(GSIO)":[77],"framework":[78,127,134],"designed,":[80],"which":[81],"contributes":[82],"escaping":[84],"from":[85],"local":[86],"optimums,":[87],"making":[88],"process":[91],"more":[92],"targeted,":[93],"converging":[95],"global":[98],"optimum":[99],"solution":[100],"quickly,":[101],"especially":[102],"tasks.":[105],"One":[106],"feature":[107],"that":[113,139],"it":[114],"suitable":[116],"any":[118,137],"type":[119],"vehicle,":[122],"can":[128,140],"be":[129,141],"used":[130],"open":[133],"optimize":[136],"criterion":[138],"described":[142],"explicitly":[143],"by":[144],"polynomial.":[146],"Furthermore,":[147],"set":[150],"simulation":[151],"cases,":[152],"our":[153,167],"work":[154],"shows":[155],"significant":[156],"competitiveness,":[157],"under":[158],"premise":[160],"ensuring":[162],"moderate":[163],"CPU":[164],"processing":[165],"time,":[166],"achieves":[169],"approximately":[170],"40%":[172],"performance":[173],"improvement":[174],"effects":[177],"compared":[178],"selected":[180],"comparative":[181],"algorithms.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
