{"id":"https://openalex.org/W4313576866","doi":"https://doi.org/10.3390/rs15020309","title":"LiDAR-Based Local Path Planning Method for Reactive Navigation in Underground Mines","display_name":"LiDAR-Based Local Path Planning Method for Reactive Navigation in Underground Mines","publication_year":2023,"publication_date":"2023-01-04","ids":{"openalex":"https://openalex.org/W4313576866","doi":"https://doi.org/10.3390/rs15020309"},"language":"en","primary_location":{"id":"doi:10.3390/rs15020309","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15020309","pdf_url":"https://www.mdpi.com/2072-4292/15/2/309/pdf?version=1673502926","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/15/2/309/pdf?version=1673502926","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090695519","display_name":"Yuanjian Jiang","orcid":"https://orcid.org/0000-0003-4631-5705"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanjian Jiang","raw_affiliation_strings":["School of Resources and Safety Engineering, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021792813","display_name":"Pingan Peng","orcid":"https://orcid.org/0000-0002-4957-4035"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pingan Peng","raw_affiliation_strings":["School of Resources and Safety Engineering, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106657395","display_name":"Liguan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liguan Wang","raw_affiliation_strings":["School of Resources and Safety Engineering, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085579919","display_name":"Jiaheng Wang","orcid":"https://orcid.org/0000-0002-9783-5471"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaheng Wang","raw_affiliation_strings":["School of Resources and Safety Engineering, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000865251","display_name":"Jiaxi Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxi Wu","raw_affiliation_strings":["School of Resources and Safety Engineering, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101668970","display_name":"Yongchun Liu","orcid":"https://orcid.org/0000-0002-3318-5019"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Liu","raw_affiliation_strings":["School of Resources and Safety Engineering, Central South University, Changsha 410083, China"],"affiliations":[{"raw_affiliation_string":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5021792813"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":1.9016,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87619557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"15","issue":"2","first_page":"309","last_page":"309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9908999800682068,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9894000291824341,"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/lidar","display_name":"Lidar","score":0.7023259401321411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6870048642158508},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6757510304450989},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6536998748779297},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5655126571655273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4683498740196228},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45061907172203064},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3292074203491211},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19661176204681396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06255567073822021}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7023259401321411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6870048642158508},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6757510304450989},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6536998748779297},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5655126571655273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4683498740196228},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45061907172203064},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3292074203491211},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19661176204681396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06255567073822021},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs15020309","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15020309","pdf_url":"https://www.mdpi.com/2072-4292/15/2/309/pdf?version=1673502926","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:dc0eb5da6f6d478986d4206e5031be7e","is_oa":true,"landing_page_url":"https://doaj.org/article/dc0eb5da6f6d478986d4206e5031be7e","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 15, Iss 2, p 309 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/15/2/309/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs15020309","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Remote Sensing; Volume 15; Issue 2; Pages: 309","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs15020309","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15020309","pdf_url":"https://www.mdpi.com/2072-4292/15/2/309/pdf?version=1673502926","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2163126942","display_name":null,"funder_award_id":"202002","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2376276132","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G251351798","display_name":null,"funder_award_id":"2020zzts194","funder_id":"https://openalex.org/F4320335880","funder_display_name":"Fundamental Research Funds for Central Universities of the Central South University"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5486152420","display_name":null,"funder_award_id":"202002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5488592080","display_name":null,"funder_award_id":"202002","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6481950201","display_name":null,"funder_award_id":"52104170","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7974741467","display_name":null,"funder_award_id":"2022YFC2904105","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8764071032","display_name":null,"funder_award_id":"2022YFC","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8919627327","display_name":null,"funder_award_id":"2020zzts","funder_id":"https://openalex.org/F4320321514","funder_display_name":"Central South University"},{"id":"https://openalex.org/G8951484681","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321514","display_name":"Central South University","ror":"https://ror.org/00f1zfq44"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320335880","display_name":"Fundamental Research Funds for Central Universities of the Central South University","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313576866.pdf"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W746983226","https://openalex.org/W1482425222","https://openalex.org/W1611397297","https://openalex.org/W1866683701","https://openalex.org/W1874837130","https://openalex.org/W1982574519","https://openalex.org/W2000602333","https://openalex.org/W2026194127","https://openalex.org/W2040052921","https://openalex.org/W2095030868","https://openalex.org/W2108569747","https://openalex.org/W2117302414","https://openalex.org/W2124817418","https://openalex.org/W2125420246","https://openalex.org/W2140013578","https://openalex.org/W2143931888","https://openalex.org/W2150470170","https://openalex.org/W2154805788","https://openalex.org/W2158290949","https://openalex.org/W2321630028","https://openalex.org/W2411093439","https://openalex.org/W2884685495","https://openalex.org/W2886645875","https://openalex.org/W2890807499","https://openalex.org/W2907583485","https://openalex.org/W2915868680","https://openalex.org/W2999000842","https://openalex.org/W3099462994","https://openalex.org/W3133037842","https://openalex.org/W3168445764","https://openalex.org/W3184311107","https://openalex.org/W3197167612","https://openalex.org/W3209011077","https://openalex.org/W4206617872","https://openalex.org/W4206954028","https://openalex.org/W4220878860","https://openalex.org/W4295733452","https://openalex.org/W6628651860","https://openalex.org/W6714262829"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W3011451421","https://openalex.org/W2012196540","https://openalex.org/W196913356","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W1987886368","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Reactive":[0],"navigation":[1,6,40],"is":[2,14],"the":[3,17,31,38,66,77,80,90,93,101,106,114,124,131],"most":[4],"researched":[5],"technique":[7,27],"for":[8,37,55,130],"underground":[9,42,136],"vehicles.":[10,43],"Local":[11],"path":[12,35,57,133],"planning":[13,36,58,134],"one":[15],"of":[16,33,41,79,92,135],"main":[18],"research":[19],"difficulties":[20],"in":[21],"reactive":[22,39],"navigation.":[23],"At":[24],"present,":[25],"no":[26],"can":[28,126],"perfectly":[29],"solve":[30],"problem":[32],"local":[34,56,109],"Aiming":[44],"to":[45],"address":[46],"this":[47,49],"problem,":[48],"paper":[50],"proposes":[51],"a":[52,70,84],"new":[53],"method":[54,116,125],"based":[59],"on":[60],"2D":[61],"LiDAR.":[62],"First,":[63],"we":[64,74,88],"convert":[65],"LiDAR":[67],"data":[68],"into":[69],"binary":[71,81],"image,":[72],"and":[73,99,120],"then":[75],"extract":[76,89],"skeleton":[78],"image":[82],"through":[83],"thinning":[85],"algorithm.":[86],"Finally,":[87],"centerline":[91,104],"current":[94,107],"laneway":[95],"from":[96],"these":[97],"skeletons":[98],"smooth":[100],"obtained":[102],"roadway":[103],"as":[105],"planned":[108],"path.":[110],"Experiments":[111],"show":[112],"that":[113],"proposed":[115],"has":[117],"high":[118],"robustness":[119],"good":[121],"performance.":[122],"Additionally,":[123],"also":[127],"be":[128],"used":[129],"global":[132],"maps.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
