{"id":"https://openalex.org/W4312779409","doi":"https://doi.org/10.1145/3561613.3561643","title":"Three Dimensional Route Planning of UAVs based on Velocity Potential Field Method","display_name":"Three Dimensional Route Planning of UAVs based on Velocity Potential Field Method","publication_year":2022,"publication_date":"2022-08-19","ids":{"openalex":"https://openalex.org/W4312779409","doi":"https://doi.org/10.1145/3561613.3561643"},"language":"en","primary_location":{"id":"doi:10.1145/3561613.3561643","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3561613.3561643","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 The 5th International Conference on Control and Computer Vision","raw_type":"proceedings-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/A5012696693","display_name":"Qihan Fan","orcid":"https://orcid.org/0000-0002-6759-1453"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qihan Fan","raw_affiliation_strings":["Department of Robot Core Components, China Electronic Technology Group Corporation (CETC), China"],"raw_orcid":"https://orcid.org/0000-0002-6759-1453","affiliations":[{"raw_affiliation_string":"Department of Robot Core Components, China Electronic Technology Group Corporation (CETC), China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002391274","display_name":"Shiqiang Hu","orcid":"https://orcid.org/0000-0002-9362-4642"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Hu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0002-9362-4642","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012696693"],"corresponding_institution_ids":["https://openalex.org/I2800372957"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1319924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"0","issue":null,"first_page":"193","last_page":"199"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"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":0.9873999953269958,"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/potential-field","display_name":"Potential field","score":0.8280640244483948},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7241846323013306},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.6860466003417969},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.5820111036300659},{"id":"https://openalex.org/keywords/velocity-potential","display_name":"Velocity potential","score":0.5398738384246826},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5234110951423645},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4956153631210327},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4917760193347931},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.4804486930370331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4635085165500641},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41099730134010315},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.22487854957580566},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20772811770439148},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19812962412834167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12460920214653015},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09717479348182678},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.09056800603866577},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0901193916797638},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07916569709777832}],"concepts":[{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.8280640244483948},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7241846323013306},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6860466003417969},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.5820111036300659},{"id":"https://openalex.org/C157216528","wikidata":"https://www.wikidata.org/wiki/Q1331126","display_name":"Velocity potential","level":3,"score":0.5398738384246826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5234110951423645},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4956153631210327},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4917760193347931},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.4804486930370331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4635085165500641},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41099730134010315},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.22487854957580566},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20772811770439148},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19812962412834167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12460920214653015},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09717479348182678},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.09056800603866577},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0901193916797638},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07916569709777832},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3561613.3561643","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3561613.3561643","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 The 5th International Conference on Control and Computer Vision","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1586309761","https://openalex.org/W1608481154","https://openalex.org/W1997620884","https://openalex.org/W2008694519","https://openalex.org/W2158334497","https://openalex.org/W2626930290"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W1965569281","https://openalex.org/W4324119413","https://openalex.org/W2062919732","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W2394276631","https://openalex.org/W3216096898","https://openalex.org/W4282942842"],"abstract_inverted_index":{"With":[0],"the":[1,5,17,48,61,73,80,85,101,110,127,134,146,149],"continuous":[2],"expansion":[3],"of":[4,8,16,52,63,82,87,148],"application":[6],"field":[7,55,75,94,104,113,130,152],"UAV,":[9],"high-speed":[10,41,117,156],"3D(three-dimensional)":[11],"obstacle":[12],"avoidance":[13],"is":[14,33,45,57,77,96,140],"one":[15],"important":[18],"problems":[19],"that":[20,66,76,109],"must":[21],"be":[22],"considered.":[23],"In":[24],"this":[25],"paper,":[26],"a":[27,69],"new":[28],"artificial":[29],"potential":[30,54,93,103,112,129,151],"field(APF)":[31],"function":[32],"specially":[34],"designed":[35],"for":[36,40],"dynamic":[37],"path":[38],"planning":[39],"obstacles":[42,83,118,137],"whose":[43,138],"speed":[44,81,86,139],"greater":[46,141],"than":[47,142],"UAV.":[49],"The":[50,90,106],"theory":[51],"velocity":[53,92,111,128,150],"method":[56,95,114,131,153],"proposed":[58],"to":[59,79],"change":[60],"direction":[62],"resultant":[64],"force,":[65],"is,":[67],"add":[68],"repulsion":[70,74],"force":[71],"in":[72,154],"perpendicular":[78],"and":[84,98,123,125],"UAV":[88,135],"itself.":[89,143],"improved":[91],"simulated":[97],"compared":[99],"with":[100,119],"original":[102],"method.":[105],"results":[107],"show":[108],"can":[115,132],"avoid":[116,136],"different":[120],"speeds":[121],"faster":[122],"better,":[124],"only":[126],"make":[133],"It":[144],"proves":[145],"advantage":[147],"avoiding":[155],"obstacles.":[157]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
