{"id":"https://openalex.org/W4381429872","doi":"https://doi.org/10.1515/comp-2022-0276","title":"UAV patrol path planning based on machine vision and multi-sensor fusion","display_name":"UAV patrol path planning based on machine vision and multi-sensor fusion","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4381429872","doi":"https://doi.org/10.1515/comp-2022-0276"},"language":"en","primary_location":{"id":"doi:10.1515/comp-2022-0276","is_oa":true,"landing_page_url":"https://doi.org/10.1515/comp-2022-0276","pdf_url":"https://www.degruyter.com/document/doi/10.1515/comp-2022-0276/pdf","source":{"id":"https://openalex.org/S4210177004","display_name":"Open Computer Science","issn_l":"2299-1093","issn":["2299-1093"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310313990","host_organization_name":"De Gruyter","host_organization_lineage":["https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Open Computer Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.1515/comp-2022-0276/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100767197","display_name":"Xu Chen","orcid":"https://orcid.org/0000-0002-2318-3247"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xu Chen","raw_affiliation_strings":["Guangdong Energy Group Science and Technology Research Institute Co., Ltd , Guangzhou 510000, Guangdong , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Energy Group Science and Technology Research Institute Co., Ltd , Guangzhou 510000, Guangdong , China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5100767197"],"corresponding_institution_ids":[],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":0.8509,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.74829401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"13","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":0.9993000030517578,"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":0.9993000030517578,"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":0.9976000189781189,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9733999967575073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7278150916099548},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.6330095529556274},{"id":"https://openalex.org/keywords/gimbal","display_name":"Gimbal","score":0.579699695110321},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5239436626434326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5002410411834717},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.472564160823822},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.44294121861457825},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4426993131637573},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4293524920940399},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4252280592918396},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41080546379089355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3640426993370056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36134058237075806},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20363110303878784},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19911783933639526},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.16540449857711792}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7278150916099548},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.6330095529556274},{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.579699695110321},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5239436626434326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5002410411834717},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.472564160823822},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.44294121861457825},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4426993131637573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4293524920940399},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4252280592918396},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41080546379089355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3640426993370056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36134058237075806},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20363110303878784},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19911783933639526},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.16540449857711792},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1515/comp-2022-0276","is_oa":true,"landing_page_url":"https://doi.org/10.1515/comp-2022-0276","pdf_url":"https://www.degruyter.com/document/doi/10.1515/comp-2022-0276/pdf","source":{"id":"https://openalex.org/S4210177004","display_name":"Open Computer Science","issn_l":"2299-1093","issn":["2299-1093"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310313990","host_organization_name":"De Gruyter","host_organization_lineage":["https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Open Computer Science","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ecb2e76fce2e4186a45cb27d2832a4ef","is_oa":true,"landing_page_url":"https://doaj.org/article/ecb2e76fce2e4186a45cb27d2832a4ef","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":"Open Computer Science, Vol 13, Iss 1, Pp pp. 2809-2818 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1515/comp-2022-0276","is_oa":true,"landing_page_url":"https://doi.org/10.1515/comp-2022-0276","pdf_url":"https://www.degruyter.com/document/doi/10.1515/comp-2022-0276/pdf","source":{"id":"https://openalex.org/S4210177004","display_name":"Open Computer Science","issn_l":"2299-1093","issn":["2299-1093"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310313990","host_organization_name":"De Gruyter","host_organization_lineage":["https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Open Computer Science","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4381429872.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W2463923729","https://openalex.org/W2485484207","https://openalex.org/W2526368751","https://openalex.org/W2536201449","https://openalex.org/W2547125466","https://openalex.org/W2563361510","https://openalex.org/W2569556561","https://openalex.org/W2588879962","https://openalex.org/W2618083089","https://openalex.org/W2623496481","https://openalex.org/W2646413536","https://openalex.org/W2674352656","https://openalex.org/W2728074186","https://openalex.org/W2744278467","https://openalex.org/W2799437918","https://openalex.org/W2807936075","https://openalex.org/W2888819197","https://openalex.org/W2916946833","https://openalex.org/W2969352691","https://openalex.org/W2972966994","https://openalex.org/W3016701685","https://openalex.org/W3087824962","https://openalex.org/W3112821196","https://openalex.org/W3200986238","https://openalex.org/W4249183945","https://openalex.org/W4252152597"],"related_works":["https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W2605703141","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3110652258"],"abstract_inverted_index":{"Abstract":[0],"With":[1],"the":[2,24,91,97,101,104,109,113,123,127,138,146,151,156,171,176,181,183,190,197,201,204,208,213,218,222,231,249],"rapid":[3],"development":[4],"of":[5,17,50,62,71,100,108,130,170,180,217,221,252],"unmanned":[6],"aerial":[7],"vehicle":[8],"(UAV)":[9],"technology,":[10],"there":[11],"are":[12,186,200],"more":[13,15],"and":[14,33,64,76,103,135,137,196,207,230,273],"fields":[16],"UAV":[18,25,102,223,253],"application.":[19],"This":[20,36],"research":[21],"mainly":[22],"discusses":[23],"patrol":[26],"path":[27],"planning":[28,178],"based":[29,242],"on":[30,122,243],"machine":[31,244],"vision":[32,245],"multi-sensor":[34],"fusion.":[35],"article":[37,264],"studies":[38],"how":[39],"to":[40,47,145,150,166,188,268],"apply":[41],"ultrasonic,":[42],"a":[43,59,72,77,84,159,193,276],"classic":[44],"ranging":[45],"sensor,":[46],"obstacle":[48,55,139,172,238,255,258],"avoidance":[49,56,140,173,239,259],"UAVs.":[51],"The":[52,67,236,257],"designed":[53,89,165],"ultrasonic":[54,74,93,110,124],"system":[57],"is":[58,88,120,143,163,227,233,246,275],"complete":[60],"set":[61,167],"hardware":[63,68],"software":[65],"systems.":[66],"part":[69],"consists":[70],"forward":[73,92],"module":[75],"central":[78,114],"signal":[79,115,142],"processing":[80,116],"module.":[81],"Among":[82],"them,":[83],"single-axis":[85],"stabilization":[86],"gimbal":[87],"for":[90,248],"module,":[94,117],"which":[95],"decouples":[96],"attitude":[98],"angle":[99,107],"pitch":[105],"detection":[106],"sensor.":[111],"In":[112,210],"Kalman":[118],"filtering":[119],"performed":[121],"data":[125],"in":[126,262],"four":[128],"directions":[129],"front,":[131],"rear,":[132],"left,":[133,136],"right,":[134],"control":[141,240,271,277],"sent":[144],"flight":[147,270],"controller":[148],"according":[149],"filtered":[152],"sensor":[153],"data.":[154],"At":[155],"same":[157],"time,":[158],"human\u2013computer":[160],"interaction":[161],"interface":[162],"also":[164],"various":[168],"parameters":[169],"system.":[174],"For":[175],"route":[177],"method":[179,241,260,278],"tower,":[182],"routine":[184],"steps":[185],"used":[187],"inspect":[189],"tower":[191],"with":[192,279],"single-circuit":[194],"line,":[195],"specific":[198],"targets":[199],"insulator":[202],"string,":[203],"ground":[205],"wire,":[206],"conductor.":[209],"this":[211,263],"study,":[212],"average":[214],"statistical":[215],"result":[216],"straight-line":[219],"distance":[220],"patrolling":[224],"100":[225],"m":[226],"99.80":[228],"m,":[229],"error":[232],"only":[234],"0.2%.":[235],"fusion":[237],"suitable":[247],"engineering":[250],"application":[251,281],"perception":[254],"avoidance.":[256],"adopted":[261],"can":[265],"be":[266],"extended":[267],"most":[269],"platforms,":[272],"it":[274],"broad":[280],"prospects.":[282]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
