{"id":"https://openalex.org/W4285037215","doi":"https://doi.org/10.3390/s22145181","title":"Improved Dynamic Window Approach for Unmanned Surface Vehicles\u2019 Local Path Planning Considering the Impact of Environmental Factors","display_name":"Improved Dynamic Window Approach for Unmanned Surface Vehicles\u2019 Local Path Planning Considering the Impact of Environmental Factors","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4285037215","doi":"https://doi.org/10.3390/s22145181","pmid":"https://pubmed.ncbi.nlm.nih.gov/35890861"},"language":"en","primary_location":{"id":"doi:10.3390/s22145181","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145181","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5181/pdf?version=1657533583","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/1424-8220/22/14/5181/pdf?version=1657533583","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100344985","display_name":"Zhenyu Wang","orcid":"https://orcid.org/0000-0003-1540-2347"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenyu Wang","raw_affiliation_strings":["School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057141889","display_name":"Yan Liang","orcid":"https://orcid.org/0000-0003-0767-7199"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Liang","raw_affiliation_strings":["School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101743640","display_name":"Changwei Gong","orcid":"https://orcid.org/0000-0002-5218-8530"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changwei Gong","raw_affiliation_strings":["School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031479470","display_name":"Yichang Zhou","orcid":"https://orcid.org/0000-0002-3513-5007"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yichang Zhou","raw_affiliation_strings":["Leicester International Institute, Dalian University of Technology, Panjin 124221, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leicester International Institute, Dalian University of Technology, Panjin 124221, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065041546","display_name":"Cen Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Cen Zeng","raw_affiliation_strings":["School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Ocean Science and Technology, Dalian University of Technology, Panjin 124221, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044978401","display_name":"Songli Zhu","orcid":"https://orcid.org/0000-0001-8560-5444"},"institutions":[{"id":"https://openalex.org/I4210089486","display_name":"Fred Hutch Cancer Center","ror":"https://ror.org/007ps6h72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210089486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Songli Zhu","raw_affiliation_strings":["Division of Human Biology, Fred Hutchinson Cancer Center, Seattle, WA 98109, USA"],"raw_orcid":"https://orcid.org/0000-0001-8560-5444","affiliations":[{"raw_affiliation_string":"Division of Human Biology, Fred Hutchinson Cancer Center, Seattle, WA 98109, USA","institution_ids":["https://openalex.org/I4210089486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065041546","https://openalex.org/A5100344985"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":5.2794,"has_fulltext":true,"cited_by_count":40,"citation_normalized_percentile":{"value":0.9648929,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"22","issue":"14","first_page":"5181","last_page":"5181"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9997000098228455,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9997000098228455,"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/T12985","display_name":"Maritime Security and History","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.9800000190734863,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6495712399482727},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6182243824005127},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6157146692276001},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5893727540969849},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4853054881095886},{"id":"https://openalex.org/keywords/current","display_name":"Current (fluid)","score":0.46332165598869324},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4230445623397827},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.41070297360420227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40426167845726013},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35180479288101196},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.34578973054885864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30120745301246643},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16201123595237732},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.12341916561126709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12198373675346375},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09567555785179138},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07461577653884888}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6495712399482727},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6182243824005127},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6157146692276001},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5893727540969849},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4853054881095886},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.46332165598869324},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4230445623397827},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.41070297360420227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40426167845726013},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35180479288101196},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.34578973054885864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30120745301246643},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16201123595237732},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.12341916561126709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12198373675346375},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09567555785179138},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07461577653884888},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22145181","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145181","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5181/pdf?version=1657533583","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:35890861","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35890861","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:e51dfd1480ea44a1bcd6e0e0370c730c","is_oa":true,"landing_page_url":"https://doaj.org/article/e51dfd1480ea44a1bcd6e0e0370c730c","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 22, Iss 14, p 5181 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/14/5181/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22145181","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 22; Issue 14; Pages: 5181","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9321648","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9321648","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/s22145181","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145181","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5181/pdf?version=1657533583","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","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G3727333339","display_name":null,"funder_award_id":"CBG2N21-2-2","funder_id":"https://openalex.org/F4320324560","funder_display_name":"Department of Education of Liaoning Province"},{"id":"https://openalex.org/G3837775501","display_name":null,"funder_award_id":"DUT22JC24","funder_id":"https://openalex.org/F4320324560","funder_display_name":"Department of Education of Liaoning Province"},{"id":"https://openalex.org/G4095782672","display_name":null,"funder_award_id":"DUT22JC24","funder_id":"https://openalex.org/F4320323970","funder_display_name":"Ministry of Industry and Information Technology of the People's Republic of China"},{"id":"https://openalex.org/G4646433127","display_name":null,"funder_award_id":"LT2019004","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5669363948","display_name":null,"funder_award_id":"CBG2N21-2-2","funder_id":"https://openalex.org/F4320323970","funder_display_name":"Ministry of Industry and Information Technology of the People's Republic of China"},{"id":"https://openalex.org/G573438776","display_name":null,"funder_award_id":"LT2019004","funder_id":"https://openalex.org/F4320323970","funder_display_name":"Ministry of Industry and Information Technology of the People's Republic of China"},{"id":"https://openalex.org/G7453067682","display_name":null,"funder_award_id":"LT2019004","funder_id":"https://openalex.org/F4320324560","funder_display_name":"Department of Education of Liaoning Province"},{"id":"https://openalex.org/G7619649006","display_name":null,"funder_award_id":"CBG2N21-2-2","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7817011498","display_name":null,"funder_award_id":"DUT22JC24","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320323970","display_name":"Ministry of Industry and Information Technology of the People's Republic of China","ror":"https://ror.org/0385nmy68"},{"id":"https://openalex.org/F4320324560","display_name":"Department of Education of Liaoning Province","ror":"https://ror.org/0022v2454"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285037215.pdf","grobid_xml":"https://content.openalex.org/works/W4285037215.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W2015299746","https://openalex.org/W2104026991","https://openalex.org/W2337943930","https://openalex.org/W2351633411","https://openalex.org/W2492274413","https://openalex.org/W2505012551","https://openalex.org/W2557621405","https://openalex.org/W2585527638","https://openalex.org/W2766175108","https://openalex.org/W2801588410","https://openalex.org/W2891102204","https://openalex.org/W2910056964","https://openalex.org/W2943308732","https://openalex.org/W2946818102","https://openalex.org/W2970204937","https://openalex.org/W2970448474","https://openalex.org/W2971542559","https://openalex.org/W3049237351","https://openalex.org/W3126793607","https://openalex.org/W3132663004","https://openalex.org/W3134645133","https://openalex.org/W3183442651","https://openalex.org/W3187936759","https://openalex.org/W3196306606","https://openalex.org/W3197371906","https://openalex.org/W3213330260","https://openalex.org/W4205674402","https://openalex.org/W4242610299","https://openalex.org/W7034241740"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W4246352526","https://openalex.org/W2121910908","https://openalex.org/W915438175","https://openalex.org/W4230315250"],"abstract_inverted_index":{"The":[0],"aim":[1],"of":[2,29,42,72,79,100,112,121,145,150,158,172,187,209,226,234,241],"local":[3,84,223],"path":[4,85,104,160,224,253],"planning":[5,86,225],"for":[6,221],"unmanned":[7],"surface":[8],"vehicles":[9],"(USVs)":[10],"is":[11],"to":[12,205,216,250],"avoid":[13,257],"unknown":[14],"dynamic":[15,91],"or":[16],"static":[17],"obstacles.":[18],"However,":[19],"current":[20],"relative":[21],"studies":[22,47],"have":[23,60],"not":[24,199],"fully":[25],"considered":[26],"the":[27,36,76,90,98,101,103,110,113,119,122,126,135,146,151,154,159,168,173,183,195,201,232,239,251,262],"impact":[28,63,233],"ocean":[30,49,264],"environmental":[31,50,114,123,152],"factors":[32],"which":[33],"significantly":[34,130],"increase":[35],"control":[37],"difficulty":[38],"and":[39,54,75,82,116,148,164,178,194,236,243,256],"collision":[40],"risk":[41],"USVs.":[43,65],"Therefore,":[44],"this":[45],"work":[46],"two":[48],"factors,":[51,153],"namely,":[52],"wave":[53],"current,":[55],"given":[56],"that":[57,246],"they":[58],"both":[59],"a":[61,69,80,141,206,218],"significant":[62],"on":[64,89,238],"Furthermore,":[66],"we":[67],"redesign":[68],"kinematic":[70],"model":[71],"an":[73],"USV":[74],"evaluation":[77],"function":[78],"classical":[81],"practical":[83],"method":[87,213],"based":[88],"window":[92],"approach":[93],"(DWA).":[94],"As":[95],"shown":[96],"by":[97,109,118,132],"results":[99],"simulations,":[102],"length":[105,161],"was":[106,129,190],"impacted":[107],"mainly":[108],"intensity":[111,147],"load":[115],"slightly":[117],"direction":[120,149],"load,":[124],"but":[125,167],"navigation":[127,240],"time":[128,175,186,197,203,255],"influenced":[131],"both.":[133],"Taking":[134],"situation":[136],"in":[137,143,254,261],"still":[138],"water":[139],"as":[140],"benchmark":[142],"terms":[144],"maximum":[155,169],"change":[156,170],"rates":[157,171],"were":[162,176],"8.6%":[163],"0.6%,":[165],"respectively,":[166],"navigating":[174,260],"17.9%":[177],"25.6%,":[179],"separately.":[180],"In":[181],"addition,":[182],"average":[184],"calculation":[185],"each":[188],"cycle":[189,208],"only":[191],"0.0418":[192],"s,":[193],"longest":[196],"did":[198],"exceed":[200],"simulation":[202],"corresponding":[204],"single":[207],"0.1":[210],"s.":[211],"This":[212],"has":[214],"proven":[215],"be":[217],"good":[219],"candidate":[220],"real-time":[222],"USVs":[227,247],"since":[228],"it":[229],"systematically":[230],"considers":[231],"waves":[235],"currents":[237],"USVs,":[242],"thus":[244],"ensures":[245],"can":[248],"adjust":[249],"planned":[252],"obstacles":[258],"when":[259],"real":[263],"environment.":[265]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}