{"id":"https://openalex.org/W3207693575","doi":"https://doi.org/10.1155/2021/9994680","title":"Energy\u2010Optimal 3D Path Planning for MAV with Motion Uncertainty","display_name":"Energy\u2010Optimal 3D Path Planning for MAV with Motion Uncertainty","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3207693575","doi":"https://doi.org/10.1155/2021/9994680","mag":"3207693575"},"language":"en","primary_location":{"id":"doi:10.1155/2021/9994680","is_oa":true,"landing_page_url":"http://doi.org/10.1155/2021/9994680","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/9994680.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/complexity/2021/9994680.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100347638","display_name":"Yamin Li","orcid":"https://orcid.org/0000-0003-3974-0690"},"institutions":[{"id":"https://openalex.org/I161350542","display_name":"China Three Gorges University","ror":"https://ror.org/0419nfc77","country_code":"CN","type":"education","lineage":["https://openalex.org/I161350542"]},{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yamin Li","raw_affiliation_strings":["Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China","Yichang Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China","School of Computer Science and Information Engineering, Hubei University, Wuhan 430062, China"],"raw_orcid":"https://orcid.org/0000-0003-3974-0690","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China","institution_ids":["https://openalex.org/I161350542"]},{"raw_affiliation_string":"Yichang Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China","institution_ids":["https://openalex.org/I161350542"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan 430062, China","institution_ids":["https://openalex.org/I75900474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084220302","display_name":"Bowen Sun","orcid":"https://orcid.org/0009-0005-6331-4925"},"institutions":[{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowen Sun","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hubei University, Wuhan 430062, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan 430062, China","institution_ids":["https://openalex.org/I75900474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049222592","display_name":"Ping Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I161350542","display_name":"China Three Gorges University","ror":"https://ror.org/0419nfc77","country_code":"CN","type":"education","lineage":["https://openalex.org/I161350542"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Xia","raw_affiliation_strings":["Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China","College of Computer and Information Technology, China Three Gorges University, Yichang 443002, China","Yichang Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China","institution_ids":["https://openalex.org/I161350542"]},{"raw_affiliation_string":"College of Computer and Information Technology, China Three Gorges University, Yichang 443002, China","institution_ids":["https://openalex.org/I161350542"]},{"raw_affiliation_string":"Yichang Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, China Three Gorges University, Yichang 443002, China","institution_ids":["https://openalex.org/I161350542"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100397644","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0002-6297-5722"},"institutions":[{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Yang","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hubei University, Wuhan 430062, China"],"raw_orcid":"https://orcid.org/0000-0002-6297-5722","affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan 430062, China","institution_ids":["https://openalex.org/I75900474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100397644"],"corresponding_institution_ids":["https://openalex.org/I75900474"],"apc_list":{"value":2550,"currency":"USD","value_usd":2550},"apc_paid":{"value":2550,"currency":"USD","value_usd":2550},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12921637,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2021","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9975000023841858,"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":0.9968000054359436,"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/traverse","display_name":"Traverse","score":0.827823281288147},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8153486847877502},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6765270233154297},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6743709444999695},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6460307240486145},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.6207482218742371},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6119274497032166},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6079353094100952},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5293693542480469},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.4782739579677582},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.46793386340141296},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3572085499763489},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24970465898513794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2468034327030182},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1998547911643982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09242826700210571},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08964037895202637},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0843069851398468}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.827823281288147},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8153486847877502},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6765270233154297},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6743709444999695},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6460307240486145},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.6207482218742371},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6119274497032166},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6079353094100952},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5293693542480469},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.4782739579677582},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.46793386340141296},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3572085499763489},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24970465898513794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2468034327030182},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1998547911643982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09242826700210571},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08964037895202637},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0843069851398468},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1155/2021/9994680","is_oa":true,"landing_page_url":"http://doi.org/10.1155/2021/9994680","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/9994680.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:9994680","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/complexity/2021/9994680.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:76fcb4cfd1c8473f99a33f00106ede4b","is_oa":true,"landing_page_url":"https://doaj.org/article/76fcb4cfd1c8473f99a33f00106ede4b","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":"Complexity, Vol 2021 (2021)","raw_type":"article"},{"id":"pmh:oai:hindawi.com:10.1155/2021/9994680","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9994680","pdf_url":null,"source":{"id":"https://openalex.org/S4306400340","display_name":"Hindawi Journal of Chemistry (Hindawi)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210126990","host_organization_name":"Hindawi (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210126990"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Research Article"}],"best_oa_location":{"id":"doi:10.1155/2021/9994680","is_oa":true,"landing_page_url":"http://doi.org/10.1155/2021/9994680","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/9994680.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2616141538","display_name":null,"funder_award_id":"62002104","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8945608047","display_name":null,"funder_award_id":"2019CFB191","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3207693575.pdf","grobid_xml":"https://content.openalex.org/works/W3207693575.grobid-xml"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W2040483961","https://openalex.org/W2123241324","https://openalex.org/W2158246215","https://openalex.org/W2370657625","https://openalex.org/W2802990478","https://openalex.org/W2963908258","https://openalex.org/W2982367305","https://openalex.org/W2994813045","https://openalex.org/W2998396005","https://openalex.org/W3120370876"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2559356576","https://openalex.org/W3139139461","https://openalex.org/W1660309994","https://openalex.org/W2056737145","https://openalex.org/W4297094037"],"abstract_inverted_index":{"Practical":[0],"applications":[1],"of":[2,27,42,57,86,94],"microaerial":[3],"vehicle":[4],"face":[5],"significant":[6],"challenges":[7],"including":[8],"imprecise":[9],"localization,":[10],"limited":[11],"on\u2010board":[12],"energy,":[13],"and":[14,46,92],"motion":[15],"uncertainty.":[16],"This":[17],"paper":[18],"focuses":[19],"on":[20,61],"the":[21,55,67,71,90,95],"latter":[22],"two":[23,63],"issues.":[24],"The":[25],"core":[26],"proposed":[28,96],"energy\u2010optimal":[29],"path":[30,69],"planning":[31],"algorithm":[32],"is":[33],"an":[34],"energy":[35,76],"consumption":[36,77],"model":[37],"deriving":[38],"from":[39],"real":[40],"measurements":[41],"a":[43,48,79],"specific":[44],"quadrotor":[45],"utilizing":[47],"2D":[49],"Gaussian":[50],"distribution":[51],"function":[52],"to":[53],"simulate":[54],"uncertainty":[56],"random":[58],"drift.":[59],"Based":[60],"these":[62],"models,":[64],"we":[65],"formulate":[66],"optimal":[68],"traversing":[70],"3D":[72],"map":[73],"with":[74],"minimum":[75],"using":[78],"heuristic":[80],"ant":[81],"colony":[82],"optimization.":[83],"Multiple":[84],"sets":[85],"contrast":[87],"experiments":[88],"demonstrate":[89],"effectiveness":[91],"efficiency":[93],"algorithm.":[97]},"counts_by_year":[],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}