{"id":"https://openalex.org/W2792791722","doi":"https://doi.org/10.3390/s18020438","title":"A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments","display_name":"A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments","publication_year":2018,"publication_date":"2018-02-02","ids":{"openalex":"https://openalex.org/W2792791722","doi":"https://doi.org/10.3390/s18020438","mag":"2792791722","pmid":"https://pubmed.ncbi.nlm.nih.gov/29393915"},"language":"en","primary_location":{"id":"doi:10.3390/s18020438","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18020438","pdf_url":"https://www.mdpi.com/1424-8220/18/2/438/pdf?version=1517578265","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/18/2/438/pdf?version=1517578265","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017411379","display_name":"Zheping Yan","orcid":"https://orcid.org/0000-0002-5598-0275"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheping Yan","raw_affiliation_strings":["Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103222435","display_name":"Jiyun Li","orcid":"https://orcid.org/0000-0001-9469-3079"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiyun Li","raw_affiliation_strings":["Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075004200","display_name":"Gengshi Zhang","orcid":"https://orcid.org/0000-0002-1833-1962"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gengshi Zhang","raw_affiliation_strings":["Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101514518","display_name":"Yi Wu","orcid":"https://orcid.org/0000-0002-8268-2548"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Wu","raw_affiliation_strings":["Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103222435"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":4.4529,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.94175876,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"18","issue":"2","first_page":"438","last_page":"438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.996399998664856,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.9504046440124512},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8710078001022339},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6075042486190796},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6043747663497925},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.6015363931655884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5974448323249817},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5581741333007812},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4758310616016388},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4338502883911133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3898221254348755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33344706892967224},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32060128450393677},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26982229948043823},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.07869529724121094}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.9504046440124512},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8710078001022339},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6075042486190796},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6043747663497925},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.6015363931655884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5974448323249817},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5581741333007812},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4758310616016388},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4338502883911133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3898221254348755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33344706892967224},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32060128450393677},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26982229948043823},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.07869529724121094},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s18020438","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18020438","pdf_url":"https://www.mdpi.com/1424-8220/18/2/438/pdf?version=1517578265","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:29393915","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29393915","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:603cf2448a944d66aefd081ae8b467eb","is_oa":true,"landing_page_url":"https://doaj.org/article/603cf2448a944d66aefd081ae8b467eb","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":"Sensors, Vol 18, Iss 2, p 438 (2018)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/18/2/438/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s18020438","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":"Sensors; Volume 18; Issue 2; Pages: 438","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:5855141","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5855141","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18020438","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18020438","pdf_url":"https://www.mdpi.com/1424-8220/18/2/438/pdf?version=1517578265","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1401733761","display_name":null,"funder_award_id":"51679057","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1898690313","display_name":null,"funder_award_id":"J2016JQ0052","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5962746668","display_name":null,"funder_award_id":"No. 51679057","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/W2792791722.pdf","grobid_xml":"https://content.openalex.org/works/W2792791722.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1135555303","https://openalex.org/W1471730750","https://openalex.org/W1560976374","https://openalex.org/W1960652569","https://openalex.org/W1978288553","https://openalex.org/W2027047322","https://openalex.org/W2042444344","https://openalex.org/W2045614031","https://openalex.org/W2051981200","https://openalex.org/W2056069998","https://openalex.org/W2061296863","https://openalex.org/W2062277490","https://openalex.org/W2066058298","https://openalex.org/W2088230758","https://openalex.org/W2089130614","https://openalex.org/W2118819262","https://openalex.org/W2174829765","https://openalex.org/W2194515119","https://openalex.org/W2292650350","https://openalex.org/W2337943930","https://openalex.org/W2376732687","https://openalex.org/W2417848255","https://openalex.org/W2509941202","https://openalex.org/W2734821685"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2505159293","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691"],"abstract_inverted_index":{"A":[0,83],"novel":[1],"real-time":[2],"reaction":[3],"obstacle":[4,32,80,95,107,122],"avoidance":[5,33,81,96,123],"algorithm":[6,63],"(RRA)":[7],"is":[8,65,85],"proposed":[9],"for":[10],"autonomous":[11],"underwater":[12],"vehicles":[13],"(AUVs)":[14],"that":[15],"must":[16],"adapt":[17],"to":[18,55,67,87,112],"unknown":[19,106],"complex":[20],"terrains,":[21],"based":[22],"on":[23],"forward":[24],"looking":[25],"sonar":[26],"(FLS).":[27],"To":[28],"accomplish":[29],"this":[30,117],"algorithm,":[31,118],"rules":[34],"are":[35,41,109,125],"planned,":[36],"and":[37,128],"the":[38,79,89,114,120],"RRA":[39],"processes":[40],"split":[42],"into":[43,73],"five":[44],"steps":[45],"Introduction":[46],"only":[47],"lists":[48],"4":[49],"so":[50],"AUVs":[51],"can":[52],"rapidly":[53],"respond":[54],"various":[56],"environment":[57],"obstacles.":[58],"The":[59],"largest":[60],"polar":[61],"angle":[62],"(LPAA)":[64],"designed":[66,86],"change":[68],"detected":[69],"obstacle's":[70],"irregular":[71],"outline":[72,99],"a":[74],"convex":[75],"polygon,":[76],"which":[77],"simplifies":[78],"process.":[82],"solution":[84],"solve":[88],"trapping":[90],"problem":[91],"existing":[92],"in":[93,104],"U-shape":[94],"by":[97],"an":[98],"memory":[100],"algorithm.":[101],"Finally,":[102],"simulations":[103],"three":[105],"scenes":[108],"carried":[110],"out":[111],"demonstrate":[113],"performance":[115],"of":[116],"where":[119],"obtained":[121],"trajectories":[124],"safety,":[126],"smooth":[127],"near-optimal.":[129]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
