{"id":"https://openalex.org/W4415281039","doi":"https://doi.org/10.3390/info16100896","title":"Autonomous Navigation Approach for Complex Scenarios Based on Layered Terrain Analysis and Nonlinear Model","display_name":"Autonomous Navigation Approach for Complex Scenarios Based on Layered Terrain Analysis and Nonlinear Model","publication_year":2025,"publication_date":"2025-10-14","ids":{"openalex":"https://openalex.org/W4415281039","doi":"https://doi.org/10.3390/info16100896"},"language":"en","primary_location":{"id":"doi:10.3390/info16100896","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info16100896","pdf_url":"https://www.mdpi.com/2078-2489/16/10/896/pdf?version=1760439031","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2078-2489/16/10/896/pdf?version=1760439031","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015416059","display_name":"Wenhe Chen","orcid":"https://orcid.org/0000-0002-9563-8845"},"institutions":[{"id":"https://openalex.org/I4210144214","display_name":"Jiangsu University of Technology","ror":"https://ror.org/04jabhf80","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210144214"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhe Chen","raw_affiliation_strings":["School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China"],"raw_orcid":"https://orcid.org/0000-0002-9563-8845","affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China","institution_ids":["https://openalex.org/I4210144214"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Leer Hua","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144214","display_name":"Jiangsu University of Technology","ror":"https://ror.org/04jabhf80","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210144214"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Leer Hua","raw_affiliation_strings":["School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China","institution_ids":["https://openalex.org/I4210144214"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuonan Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144214","display_name":"Jiangsu University of Technology","ror":"https://ror.org/04jabhf80","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210144214"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuonan Shen","raw_affiliation_strings":["School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China","institution_ids":["https://openalex.org/I4210144214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100372032","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-4335-4680"},"institutions":[{"id":"https://openalex.org/I4210144214","display_name":"Jiangsu University of Technology","ror":"https://ror.org/04jabhf80","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210144214"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China","institution_ids":["https://openalex.org/I4210144214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120035950","display_name":"Qi Pu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144214","display_name":"Jiangsu University of Technology","ror":"https://ror.org/04jabhf80","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210144214"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qi Pu","raw_affiliation_strings":["School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Jiangsu University of Technology, Changzhou 213001, China","institution_ids":["https://openalex.org/I4210144214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061540422","display_name":"Xundiao Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105365","display_name":"Qujing Normal University","ror":"https://ror.org/02ad7ap24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105365"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xundiao Ma","raw_affiliation_strings":["School of Teacher Education, Qujing Normal University, Qujing 655011, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Teacher Education, Qujing Normal University, Qujing 655011, China","institution_ids":["https://openalex.org/I4210105365"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5061540422","https://openalex.org/A5120035950"],"corresponding_institution_ids":["https://openalex.org/I4210105365","https://openalex.org/I4210144214"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25522886,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"16","issue":"10","first_page":"896","last_page":"896"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9961000084877014,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9696999788284302,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/terrain","display_name":"Terrain","score":0.775600016117096},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.7671999931335449},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5238000154495239},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.48969998955726624},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4853000044822693},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4837999939918518},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.460099995136261},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.45320001244544983},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4413999915122986}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.775600016117096},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.7671999931335449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6067000031471252},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5238000154495239},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.48969998955726624},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4853000044822693},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4837999939918518},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.460099995136261},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.45320001244544983},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4413999915122986},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.429500013589859},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.40689998865127563},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3905999958515167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3774999976158142},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.37229999899864197},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3666999936103821},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.35760000348091125},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32019999623298645},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3109000027179718},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.26739999651908875},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2624000012874603},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C171836373","wikidata":"https://www.wikidata.org/wiki/Q2266329","display_name":"Linear interpolation","level":3,"score":0.2533999979496002}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/info16100896","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info16100896","pdf_url":"https://www.mdpi.com/2078-2489/16/10/896/pdf?version=1760439031","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a14b7a0291dd48b09ea73b5f811eef16","is_oa":true,"landing_page_url":"https://doaj.org/article/a14b7a0291dd48b09ea73b5f811eef16","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":"Information, Vol 16, Iss 10, p 896 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/info16100896","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info16100896","pdf_url":"https://www.mdpi.com/2078-2489/16/10/896/pdf?version=1760439031","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6076092490","display_name":null,"funder_award_id":"62306128","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/W4415281039.pdf","grobid_xml":"https://content.openalex.org/works/W4415281039.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1509698058","https://openalex.org/W1572206011","https://openalex.org/W1976930960","https://openalex.org/W1999050017","https://openalex.org/W2000359213","https://openalex.org/W2031827357","https://openalex.org/W2034927223","https://openalex.org/W2061309618","https://openalex.org/W2064141542","https://openalex.org/W2074578476","https://openalex.org/W2094544836","https://openalex.org/W2102029687","https://openalex.org/W2115192345","https://openalex.org/W2133118325","https://openalex.org/W2137995288","https://openalex.org/W2145053972","https://openalex.org/W2170431305","https://openalex.org/W2294981335","https://openalex.org/W2495427531","https://openalex.org/W2604382266","https://openalex.org/W2792979370","https://openalex.org/W2962887844","https://openalex.org/W2963977469","https://openalex.org/W3102121895","https://openalex.org/W3107575247","https://openalex.org/W3130735748","https://openalex.org/W3165579372","https://openalex.org/W3169053299","https://openalex.org/W3201759799","https://openalex.org/W3210395242","https://openalex.org/W4205273483","https://openalex.org/W4214717370","https://openalex.org/W4220840735","https://openalex.org/W4226503583","https://openalex.org/W4238195818","https://openalex.org/W4312707839","https://openalex.org/W4313180266","https://openalex.org/W4382362889","https://openalex.org/W4383108296","https://openalex.org/W4385416186","https://openalex.org/W4385833986","https://openalex.org/W4386076325","https://openalex.org/W4391429284","https://openalex.org/W4401414396","https://openalex.org/W4401417061","https://openalex.org/W4402354128"],"related_works":[],"abstract_inverted_index":{"In":[0],"complex":[1],"scenarios,":[2],"such":[3],"as":[4],"industrial":[5],"parks":[6],"and":[7,12,21,38,65,76,97,126,141,149],"underground":[8,128],"parking":[9,129],"lots,":[10],"efficient":[11],"safe":[13],"autonomous":[14,55],"navigation":[15,27,56,142],"is":[16],"essential":[17],"for":[18],"driverless":[19],"operation":[20],"automatic":[22],"parking.":[23],"However,":[24],"conventional":[25],"modular":[26],"methods,":[28],"especially":[29],"the":[30,90,101,115,133,138,145],"A*":[31,86,147],"algorithm,":[32],"suffer":[33],"from":[34],"excessive":[35],"node":[36],"traversal":[37],"short":[39],"paths":[40],"that":[41,132],"bring":[42],"vehicles":[43],"dangerously":[44],"close":[45],"to":[46,112],"obstacles.":[47],"To":[48],"address":[49],"these":[50],"issues,":[51],"we":[52],"propose":[53],"an":[54],"approach":[57],"based":[58],"on":[59],"a":[60,66,84],"layered":[61],"terrain":[62,92,120],"cost":[63,93],"map":[64],"nonlinear":[67,108],"predictive":[68,110],"control":[69,111],"model,":[70],"which":[71],"ensures":[72],"real-time":[73],"performance,":[74],"safety,":[75,143],"reduced":[77],"computational":[78,139],"cost.":[79],"The":[80],"global":[81],"planner":[82,103],"applies":[83],"two-stage":[85],"strategy":[87],"guided":[88],"by":[89],"hierarchical":[91],"map,":[94],"improving":[95],"efficiency":[96,140],"obstacle":[98],"avoidance,":[99],"while":[100],"local":[102],"combines":[104],"linear":[105],"interpolation":[106],"with":[107],"model":[109],"adaptively":[113],"adjust":[114],"vehicle":[116],"speed":[117],"under":[118],"varying":[119],"conditions.":[121],"Experiments":[122],"conducted":[123],"in":[124,153],"simulated":[125],"real":[127],"scenarios":[130],"demonstrate":[131],"proposed":[134],"method":[135],"significantly":[136],"improves":[137],"outperforming":[144],"traditional":[146],"algorithm":[148],"other":[150],"baseline":[151],"approaches":[152],"overall":[154],"performance.":[155]},"counts_by_year":[],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-17T00:00:00"}
