{"id":"https://openalex.org/W2955567706","doi":"https://doi.org/10.3390/s19132862","title":"A Predictive Guidance Obstacle Avoidance Algorithm for AUV in Unknown Environments","display_name":"A Predictive Guidance Obstacle Avoidance Algorithm for AUV in Unknown Environments","publication_year":2019,"publication_date":"2019-06-27","ids":{"openalex":"https://openalex.org/W2955567706","doi":"https://doi.org/10.3390/s19132862","mag":"2955567706","pmid":"https://pubmed.ncbi.nlm.nih.gov/31252643"},"language":"en","primary_location":{"id":"doi:10.3390/s19132862","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19132862","pdf_url":"https://www.mdpi.com/1424-8220/19/13/2862/pdf?version=1561636146","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/1424-8220/19/13/2862/pdf?version=1561636146","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100666590","display_name":"Juan Li","orcid":"https://orcid.org/0000-0002-9991-1538"},"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":"Juan Li","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China","Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0002-9991-1538","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413537","display_name":"Jianxin Zhang","orcid":"https://orcid.org/0000-0001-6076-5433"},"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":"Jianxin Zhang","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038568985","display_name":"Honghan Zhang","orcid":"https://orcid.org/0000-0002-7397-0871"},"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":"Honghan Zhang","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","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":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"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/A5038568985"],"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":1.1369,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.79176054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"19","issue":"13","first_page":"2862","last_page":"2862"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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/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":0.9404346942901611},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7606780529022217},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6593597531318665},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5356440544128418},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.502291202545166},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4853347837924957},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44864141941070557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3431583642959595},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31191155314445496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1531839668750763},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.1440715491771698},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09882861375808716}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.9404346942901611},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7606780529022217},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6593597531318665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5356440544128418},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.502291202545166},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4853347837924957},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44864141941070557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3431583642959595},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31191155314445496},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1531839668750763},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.1440715491771698},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09882861375808716},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19132862","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19132862","pdf_url":"https://www.mdpi.com/1424-8220/19/13/2862/pdf?version=1561636146","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:31252643","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31252643","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:6510dcc431d14320bb378d9b25fdfee4","is_oa":true,"landing_page_url":"https://doaj.org/article/6510dcc431d14320bb378d9b25fdfee4","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 19, Iss 13, p 2862 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/13/2862/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19132862","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","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6651888","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6651888","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/s19132862","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19132862","pdf_url":"https://www.mdpi.com/1424-8220/19/13/2862/pdf?version=1561636146","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8399999737739563}],"awards":[{"id":"https://openalex.org/G2308044853","display_name":null,"funder_award_id":"51609046/E091002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3914001782","display_name":null,"funder_award_id":"614221502061701","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G746292463","display_name":null,"funder_award_id":"51609046","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/W2955567706.pdf","grobid_xml":"https://content.openalex.org/works/W2955567706.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W198732646","https://openalex.org/W1575954467","https://openalex.org/W1590684588","https://openalex.org/W1595895163","https://openalex.org/W1823979212","https://openalex.org/W1952157068","https://openalex.org/W1966272269","https://openalex.org/W1966339028","https://openalex.org/W1968601632","https://openalex.org/W1994176155","https://openalex.org/W2003708116","https://openalex.org/W2021133906","https://openalex.org/W2042955397","https://openalex.org/W2045614031","https://openalex.org/W2047591814","https://openalex.org/W2056069998","https://openalex.org/W2058643954","https://openalex.org/W2061296863","https://openalex.org/W2093127205","https://openalex.org/W2103120971","https://openalex.org/W2104782147","https://openalex.org/W2116410266","https://openalex.org/W2130957631","https://openalex.org/W2131224118","https://openalex.org/W2150898443","https://openalex.org/W2153275400","https://openalex.org/W2174829765","https://openalex.org/W2194515119","https://openalex.org/W2291309636","https://openalex.org/W2513959337","https://openalex.org/W2531266553","https://openalex.org/W2582118765","https://openalex.org/W2748897120","https://openalex.org/W2792791722","https://openalex.org/W2793338044","https://openalex.org/W2809896446","https://openalex.org/W2925144242","https://openalex.org/W2978765831","https://openalex.org/W3141390017","https://openalex.org/W4249609966","https://openalex.org/W6687321035","https://openalex.org/W6760992034","https://openalex.org/W6989942751"],"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/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W2906946336","https://openalex.org/W1971413691"],"abstract_inverted_index":{"A":[0],"predictive":[1,49],"guidance":[2,109],"obstacle":[3,23,36,56,62,73,77,86,94,105,127,145,162],"avoidance":[4,57,63,78,87,95,106,128,141],"algorithm":[5,43,118],"(PGOA)":[6],"in":[7],"unknown":[8],"environments":[9],"is":[10,38,98],"proposed":[11,176],"for":[12,142],"autonomous":[13],"underwater":[14],"vehicle":[15],"(AUV)":[16],"that":[17,115],"must":[18],"adapt":[19],"to":[20,69],"multiple":[21],"complex":[22,144,161],"environments.":[24,146],"Using":[25],"the":[26,31,35,41,48,55,60,75,85,91,108,116,122,126,133,149,168,175],"environmental":[27],"information":[28],"collected":[29],"by":[30,40],"Forward-looking":[32],"Sonar":[33],"(FLS),":[34],"boundary":[37],"simplified":[39],"convex":[42],"and":[44,54,89,132,152,171],"Bessel":[45],"interpolation.":[46],"Combining":[47],"control":[50],"secondary":[51,134],"optimization":[52,135],"function":[53,136],"weight":[58],"function,":[59],"predicting":[61,93],"trajectory":[64,96,123],"parameters":[65,88],"are":[66,80],"obtained.":[67,99],"According":[68],"different":[70,143,155],"types":[71],"of":[72,125,130,154,174],"environments,":[74,163],"corresponding":[76],"rules":[79],"formulated.":[81],"Lastly,":[82,147],"combining":[83],"with":[84,159],"rules,":[90],"AUV's":[92],"point":[97,124],"Then":[100],"AUV":[101],"can":[102,119,137],"successfully":[103,138],"achieve":[104,139],"using":[107],"algorithm.":[110,177],"The":[111],"simulation":[112,164],"results":[113,166],"show":[114],"PGOA":[117],"better":[120],"predict":[121],"path":[129],"AUV,":[131],"collision":[140],"comparing":[148],"execution":[150],"efficiency":[151,170],"cost":[153],"algorithms,":[156],"which":[157],"deal":[158],"various":[160],"experiment":[165],"indicate":[167],"high":[169],"great":[172],"adaptability":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}