{"id":"https://openalex.org/W4387453766","doi":"https://doi.org/10.3390/s23198326","title":"Hybrid Path Planning for Unmanned Surface Vehicles in Inland Rivers Based on Collision Avoidance Regulations","display_name":"Hybrid Path Planning for Unmanned Surface Vehicles in Inland Rivers Based on Collision Avoidance Regulations","publication_year":2023,"publication_date":"2023-10-09","ids":{"openalex":"https://openalex.org/W4387453766","doi":"https://doi.org/10.3390/s23198326","pmid":"https://pubmed.ncbi.nlm.nih.gov/37837156"},"language":"en","primary_location":{"id":"doi:10.3390/s23198326","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23198326","pdf_url":"https://www.mdpi.com/1424-8220/23/19/8326/pdf?version=1696816572","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/1424-8220/23/19/8326/pdf?version=1696816572","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046975782","display_name":"Pengcheng Gao","orcid":"https://orcid.org/0000-0002-9209-5312"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengcheng Gao","raw_affiliation_strings":["College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023321537","display_name":"Pengfei Xu","orcid":"https://orcid.org/0000-0001-9297-4336"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pengfei Xu","raw_affiliation_strings":["College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China"],"raw_orcid":"https://orcid.org/0000-0001-9297-4336","affiliations":[{"raw_affiliation_string":"College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101253837","display_name":"Hongxia Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxia Cheng","raw_affiliation_strings":["College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100882437","display_name":"Zhou Xiaoguo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoguo Zhou","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002059219","display_name":"Daqi Zhu","orcid":"https://orcid.org/0000-0001-7252-4952"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqi Zhu","raw_affiliation_strings":["School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China","School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200039, China"],"raw_orcid":"https://orcid.org/0000-0001-7252-4952","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China","institution_ids":["https://openalex.org/I148128674"]},{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200039, China","institution_ids":["https://openalex.org/I148128674"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023321537"],"corresponding_institution_ids":["https://openalex.org/I163340411"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.4885,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.59887244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"23","issue":"19","first_page":"8326","last_page":"8326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9958999752998352,"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/collision-avoidance","display_name":"Collision avoidance","score":0.7787224054336548},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6657211184501648},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5468841791152954},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5281037092208862},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5172415375709534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49357306957244873},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.46975210309028625},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.4677926003932953},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.46684250235557556},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44527700543403625},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.4384118318557739},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4049515724182129},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.400272399187088},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33066073060035706},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3219889998435974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2934703230857849},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2521066963672638},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.14009812474250793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1262153685092926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11691543459892273}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7787224054336548},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6657211184501648},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5468841791152954},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5281037092208862},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5172415375709534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49357306957244873},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.46975210309028625},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.4677926003932953},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.46684250235557556},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44527700543403625},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.4384118318557739},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4049515724182129},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.400272399187088},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33066073060035706},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3219889998435974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2934703230857849},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2521066963672638},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.14009812474250793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1262153685092926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11691543459892273},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23198326","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23198326","pdf_url":"https://www.mdpi.com/1424-8220/23/19/8326/pdf?version=1696816572","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:37837156","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37837156","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:pubmedcentral.nih.gov:10575154","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10575154","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10575154/pdf/sensors-23-08326.pdf","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"},{"id":"pmh:oai:doaj.org/article:8c9d2de2154f4923b1f0bbc71eeb32f1","is_oa":true,"landing_page_url":"https://doaj.org/article/8c9d2de2154f4923b1f0bbc71eeb32f1","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 23, Iss 19, p 8326 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23198326","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23198326","pdf_url":"https://www.mdpi.com/1424-8220/23/19/8326/pdf?version=1696816572","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":0.49000000953674316,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1135175562","display_name":"\u7403\u5f62\u6c34\u4e0b\u673a\u5668\u4eba\u6d77\u5e95\u6eda\u8fdb\u6c34\u52a8\u529b\u4e0e\u64cd\u7eb5\u52a8\u529b\u5b66\u7814\u7a76","funder_award_id":"52071131","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2257492107","display_name":null,"funder_award_id":"2022YFB4703401","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3486752188","display_name":null,"funder_award_id":"2022YFC2806002","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6418321972","display_name":null,"funder_award_id":"2021YFC2801604","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387453766.pdf"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2002440441","https://openalex.org/W2103120971","https://openalex.org/W2117211893","https://openalex.org/W2169528473","https://openalex.org/W2344179576","https://openalex.org/W2484617215","https://openalex.org/W2492811885","https://openalex.org/W2721579538","https://openalex.org/W2734482142","https://openalex.org/W2763149145","https://openalex.org/W3104753760","https://openalex.org/W3128019105","https://openalex.org/W3211285939","https://openalex.org/W4225249777","https://openalex.org/W6675683402","https://openalex.org/W6810585235"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2354097603","https://openalex.org/W4388720133","https://openalex.org/W2897215156","https://openalex.org/W2998515077","https://openalex.org/W3107533324","https://openalex.org/W4320802362"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"with":[3,43],"the":[4,8,11,25,51,55,67,73,87,93,100,123,128,132,141,146,160,167],"continuous":[5],"advancement":[6],"of":[7,10,54,90,143,162],"construction":[9],"Yangtze":[12],"River's":[13],"intelligent":[14],"waterway":[15],"system,":[16],"unmanned":[17,57],"surface":[18,58],"vehicles":[19],"have":[20],"been":[21],"increasingly":[22],"used":[23],"in":[24,60,72,145],"river's":[26],"inland":[27,61,105],"waterways.":[28],"This":[29],"article":[30],"proposes":[31],"a":[32,113,119],"hybrid":[33],"path":[34,95,164],"planning":[35],"method":[36],"that":[37,176],"combines":[38],"an":[39,44],"improved":[40,45,133],"A*":[41,74,91],"algorithm":[42,49,111,137],"model":[46,108,134],"predictive":[47,109,135],"control":[48,110,136],"for":[50,104,155],"autonomous":[52],"navigation":[53,180],"\"Jinghai-I\"":[56],"vehicle":[59],"rivers.":[62,106],"To":[63],"ensure":[64],"global":[65],"optimization,":[66],"heuristic":[68],"function":[69,89,148],"was":[70,96,171],"refined":[71],"algorithm.":[75],"Additionally,":[76],"constraints":[77],"such":[78],"as":[79],"channel":[80],"boundaries":[81],"and":[82,92,149],"courses":[83],"were":[84],"added":[85],"to":[86,98],"cost":[88,116,120,147],"planned":[94],"smoothed":[97],"meet":[99],"collision":[101,152],"avoidance":[102,153],"regulations":[103],"The":[107],"incorporated":[112],"new":[114],"path-deviation":[115],"while":[117],"imposing":[118],"constraint":[121],"on":[122],"yaw":[124],"angle,":[125],"significantly":[126],"minimizing":[127],"path-tracking":[129],"error.":[130],"Furthermore,":[131],"took":[138],"into":[139],"account":[140],"requirements":[142],"rules":[144],"adopted":[150],"different":[151,156],"parameters":[154],"encounter":[157],"scenarios,":[158],"improving":[159],"rationality":[161],"local":[163],"planning.":[165],"Finally,":[166],"proposed":[168],"algorithm's":[169],"effectiveness":[170],"verified":[172],"through":[173],"simulation":[174],"experiments":[175],"closely":[177],"approximated":[178],"real-world":[179],"conditions.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}