{"id":"https://openalex.org/W3138564762","doi":"https://doi.org/10.3390/s21062221","title":"Route-Planning Method for Plant Protection Rotor Drones in Convex Polygon Regions","display_name":"Route-Planning Method for Plant Protection Rotor Drones in Convex Polygon Regions","publication_year":2021,"publication_date":"2021-03-22","ids":{"openalex":"https://openalex.org/W3138564762","doi":"https://doi.org/10.3390/s21062221","mag":"3138564762","pmid":"https://pubmed.ncbi.nlm.nih.gov/33810149"},"language":"en","primary_location":{"id":"doi:10.3390/s21062221","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21062221","pdf_url":"https://www.mdpi.com/1424-8220/21/6/2221/pdf?version=1616560378","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/1424-8220/21/6/2221/pdf?version=1616560378","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091763103","display_name":"Shaoxing Hu","orcid":"https://orcid.org/0000-0002-6201-8404"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shaoxing Hu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006918779","display_name":"Tianliang Xu","orcid":"https://orcid.org/0000-0002-7852-2429"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianliang Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0002-7852-2429","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101574654","display_name":"Bingke Wang","orcid":"https://orcid.org/0000-0001-5608-7123"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingke Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0001-5608-7123","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091763103"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.8728,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.75050032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"21","issue":"6","first_page":"2221","last_page":"2221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9886999726295471,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9642000198364258,"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/heading","display_name":"Heading (navigation)","score":0.8222613334655762},{"id":"https://openalex.org/keywords/convex-polygon","display_name":"Convex polygon","score":0.6670419573783875},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.6527584195137024},{"id":"https://openalex.org/keywords/geographic-coordinate-conversion","display_name":"Geographic coordinate conversion","score":0.5889583826065063},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.5391415357589722},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5094309449195862},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4801330268383026},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.4787442088127136},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.44882848858833313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43577513098716736},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3797341287136078},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.332055926322937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3203223943710327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26592329144477844},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18534207344055176},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13408967852592468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1026877760887146},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08056780695915222}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.8222613334655762},{"id":"https://openalex.org/C2780034980","wikidata":"https://www.wikidata.org/wiki/Q3259505","display_name":"Convex polygon","level":3,"score":0.6670419573783875},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.6527584195137024},{"id":"https://openalex.org/C191338504","wikidata":"https://www.wikidata.org/wiki/Q11606510","display_name":"Geographic coordinate conversion","level":3,"score":0.5889583826065063},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.5391415357589722},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5094309449195862},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4801330268383026},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.4787442088127136},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.44882848858833313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43577513098716736},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3797341287136078},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.332055926322937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3203223943710327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26592329144477844},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18534207344055176},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13408967852592468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1026877760887146},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08056780695915222},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s21062221","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21062221","pdf_url":"https://www.mdpi.com/1424-8220/21/6/2221/pdf?version=1616560378","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:33810149","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33810149","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:7b2ce10e5c9547b39de09efab8c10ceb","is_oa":true,"landing_page_url":"https://doaj.org/article/7b2ce10e5c9547b39de09efab8c10ceb","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 21, Iss 6, p 2221 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/6/2221/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21062221","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 21; Issue 6; Pages: 2221","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8004822","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8004822","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/s21062221","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21062221","pdf_url":"https://www.mdpi.com/1424-8220/21/6/2221/pdf?version=1616560378","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3138564762.pdf","grobid_xml":"https://content.openalex.org/works/W3138564762.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W171569338","https://openalex.org/W1543983621","https://openalex.org/W1544032329","https://openalex.org/W1561867011","https://openalex.org/W1934004743","https://openalex.org/W1970499532","https://openalex.org/W1973514305","https://openalex.org/W2019738489","https://openalex.org/W2044493395","https://openalex.org/W2073996860","https://openalex.org/W2074464158","https://openalex.org/W2092360836","https://openalex.org/W2108154659","https://openalex.org/W2121866178","https://openalex.org/W2139007142","https://openalex.org/W2267012268","https://openalex.org/W2283031475","https://openalex.org/W2347986890","https://openalex.org/W2408002876","https://openalex.org/W2493958582","https://openalex.org/W2557440205","https://openalex.org/W2604025867","https://openalex.org/W2605647050","https://openalex.org/W2607767115","https://openalex.org/W2613565849","https://openalex.org/W2743148411","https://openalex.org/W2767177888","https://openalex.org/W2768508481","https://openalex.org/W2776518715","https://openalex.org/W2790310824","https://openalex.org/W2791091594","https://openalex.org/W2803694382","https://openalex.org/W2883113516","https://openalex.org/W2890651620","https://openalex.org/W2914859151","https://openalex.org/W2944573081","https://openalex.org/W2946799809","https://openalex.org/W2981066196","https://openalex.org/W3033152510","https://openalex.org/W3087534926","https://openalex.org/W6678301852","https://openalex.org/W6746178488","https://openalex.org/W6754531127","https://openalex.org/W6980832086"],"related_works":["https://openalex.org/W2390006007","https://openalex.org/W2380060964","https://openalex.org/W2371715611","https://openalex.org/W2362273093","https://openalex.org/W2389215595","https://openalex.org/W2104682181","https://openalex.org/W2350516327","https://openalex.org/W81812220","https://openalex.org/W2087078902","https://openalex.org/W2077869143"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,10,19,37,50,55,64,90,94,103,107,127,131,139,158,162,168,172,197],"problem":[3],"of":[4,13,22,44,112,166,174],"low":[5],"operating":[6],"efficiency":[7],"due":[8],"to":[9,54,106],"poor":[11],"endurance":[12],"plant":[14],"protection":[15],"rotor":[16],"drones":[17],"and":[18,93,116,142,148,178,185,195],"small":[20],"volume":[21],"pesticide":[23,117,143,179],"carried,":[24],"this":[25,202],"paper":[26],"proposes":[27],"a":[28,42,69],"route-planning":[29],"algorithm":[30],"for":[31],"convex":[32],"polygon":[33],"regions":[34],"based":[35,73,135],"on":[36,74,136],"initial":[38,86,96,163],"heading":[39,87,97,164],"angle.":[40],"First,":[41],"series":[43],"coordinate":[45,52,58,67],"conversion":[46],"methods":[47],"ranging":[48],"from":[49],"Earth":[51],"system":[53,59],"local":[56,65],"plane":[57,66],"are":[60],"studied.":[61],"Second,":[62],"in":[63,192,205],"system,":[68],"route":[70,92,114,132,140,159,170,176,189],"generation":[71,133],"method":[72,134],"subregion":[75,137],"is":[76],"proposed;":[77],"therefore,":[78],"multiple":[79],"routes":[80],"can":[81,99],"be":[82,100],"generated":[83,160],"with":[84,126,157],"different":[85],"angles.":[88],"Lastly,":[89],"optimal":[91,169],"best":[95,198],"angle":[98,165],"obtained":[101],"after":[102],"comparison":[104],"according":[105],"three":[108,193],"evaluation":[109],"criteria:":[110],"number":[111,173],"turns,":[113,175],"distance,":[115,177],"waste":[118,144,180],"rate.":[119],"The":[120,188],"simulation":[121],"results":[122],"show":[123],"that,":[124,155],"compared":[125,156],"common":[128],"grid":[129],"method,":[130,203],"reduces":[138,171],"distance":[141],"rate":[145,181],"by":[146,161,182],"2.27%":[147],"13.75%,":[149],"respectively.":[150,187],"Furthermore,":[151],"it":[152],"also":[153],"shows":[154],"0\u00b0,":[167],"60%,":[183],"17.65%,":[184],"38.18%,":[186],"was":[190],"optimized":[191],"aspects":[194],"reached":[196],"overall":[199],"result":[200],"using":[201],"which":[204],"turn":[206],"proved":[207],"its":[208],"feasibility.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
