{"id":"https://openalex.org/W7149016215","doi":"https://doi.org/10.5755/j01.itc.55.1.43501","title":"Obstacle Avoidance Path Planning and Robust Tracking Control of Quadrotor UAVs under\u00a0Uncertain Disturbances","display_name":"Obstacle Avoidance Path Planning and Robust Tracking Control of Quadrotor UAVs under\u00a0Uncertain Disturbances","publication_year":2026,"publication_date":"2026-04-03","ids":{"openalex":"https://openalex.org/W7149016215","doi":"https://doi.org/10.5755/j01.itc.55.1.43501"},"language":null,"primary_location":{"id":"doi:10.5755/j01.itc.55.1.43501","is_oa":true,"landing_page_url":"https://doi.org/10.5755/j01.itc.55.1.43501","pdf_url":null,"source":{"id":"https://openalex.org/S61708620","display_name":"Information Technology And Control","issn_l":"1392-124X","issn":["1392-124X","2335-884X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310317509","host_organization_name":"Kaunas University of Technology","host_organization_lineage":["https://openalex.org/P4310317509"],"host_organization_lineage_names":["Kaunas University of Technology"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information Technology and Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.5755/j01.itc.55.1.43501","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080335228","display_name":"Kaiwen Yang","orcid":"https://orcid.org/0000-0001-7315-2169"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaiwen Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132858630","display_name":"Shihong Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shihong Zhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132836660","display_name":"Jiahui Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiahui Ren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5124899359","display_name":"Zhenchao Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhenchao Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":500,"currency":"EUR","value_usd":539},"apc_paid":{"value":500,"currency":"EUR","value_usd":539},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36191478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"55","issue":"1","first_page":"257","last_page":"279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7163000106811523,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7163000106811523,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.12849999964237213,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.03629999980330467,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/control-theory","display_name":"Control theory (sociology)","score":0.8187999725341797},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5601000189781189},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5378000140190125},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5153999924659729},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.43059998750686646},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4251999855041504},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.414000004529953},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.40790000557899475},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4050000011920929}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8187999725341797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6050000190734863},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5601000189781189},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5378000140190125},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5153999924659729},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.43059998750686646},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4251999855041504},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.414000004529953},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.40790000557899475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4050000011920929},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4016999900341034},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3792000114917755},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.34940001368522644},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.3240000009536743},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.29750001430511475},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2703999876976013},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.26899999380111694},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2529999911785126},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5755/j01.itc.55.1.43501","is_oa":true,"landing_page_url":"https://doi.org/10.5755/j01.itc.55.1.43501","pdf_url":null,"source":{"id":"https://openalex.org/S61708620","display_name":"Information Technology And Control","issn_l":"1392-124X","issn":["1392-124X","2335-884X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310317509","host_organization_name":"Kaunas University of Technology","host_organization_lineage":["https://openalex.org/P4310317509"],"host_organization_lineage_names":["Kaunas University of Technology"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information Technology and Control","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.5755/j01.itc.55.1.43501","is_oa":true,"landing_page_url":"https://doi.org/10.5755/j01.itc.55.1.43501","pdf_url":null,"source":{"id":"https://openalex.org/S61708620","display_name":"Information Technology And Control","issn_l":"1392-124X","issn":["1392-124X","2335-884X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310317509","host_organization_name":"Kaunas University of Technology","host_organization_lineage":["https://openalex.org/P4310317509"],"host_organization_lineage_names":["Kaunas University of Technology"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information Technology and Control","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","score":0.634327232837677,"display_name":"No poverty"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,87],"this":[1],"paper,":[2],"obstacle-avoidance":[3],"path":[4,57,85,139],"planning":[5],"and":[6,21,55,68,84,111,137,145,153,162],"robust":[7],"trajectory":[8],"tracking":[9,91,169],"are":[10,141],"addressed":[11],"for":[12],"quadrotor":[13],"UAVs":[14],"in":[15,50,116],"the":[16,26,45,80,88,113,130,133,175,178],"presence":[17],"of":[18,47,52,90,177],"model":[19,33],"uncertainties":[20],"pulse":[22,154],"disturbances.":[23],"By":[24],"using":[25],"Newton\u2013Euler":[27],"formulation,":[28],"a":[29,38,59,93,102,122,149],"6-DOF":[30],"nonlinear":[31],"dynamic":[32],"is":[34,75,107],"derived":[35],"to":[36,109],"construct":[37],"constrained":[39],"3D":[40,124,150],"path-planning":[41],"problem.":[42],"To":[43],"overcome":[44],"shortcomings":[46],"conventional":[48],"PSO":[49,63],"terms":[51],"premature":[53],"convergence":[54],"poor":[56],"smoothness,":[58],"hybrid":[60],"adaptive":[61],"multi-topology":[62],"with":[64,101,129,166],"intelligent":[65],"strategy":[66],"learning":[67],"cubic":[69],"B-spline":[70],"smoothing,":[71],"termed":[72],"as":[73],"HAMT-AISL-PSO,":[74],"proposed,":[76],"which":[77],"jointly":[78],"enhances":[79],"global":[81],"search":[82],"ability":[83],"executability.":[86],"aspect":[89],"control,":[92],"linear":[94,103],"active":[95],"disturbance":[96],"rejection":[97],"control":[98],"(LADRC)":[99],"scheme":[100],"extended":[104],"state":[105],"observer":[106],"designed":[108],"estimate":[110],"compensate":[112],"total":[114],"disturbances":[115],"real":[117],"time.":[118],"Simulation":[119],"results":[120],"on":[121],"cluttered":[123],"environment":[125],"demonstrate":[126],"that,":[127],"compared":[128],"standard":[131],"PSO,":[132],"average":[134,138],"cost":[135],"function":[136],"length":[140],"reduced":[142],"by":[143],"25.20%":[144],"20.45%,":[146],"respectively.":[147],"Under":[148],"spiral":[151],"reference":[152],"torque":[155],"disturbances,":[156],"LADRC":[157],"achieves":[158],"faster":[159],"transient":[160],"response":[161],"near-zero":[163],"steady-state":[164],"error":[165],"much":[167],"smaller":[168],"deviations":[170],"than":[171],"PID,":[172],"hence":[173],"verifying":[174],"effectiveness":[176],"proposed":[179],"planning-and-control":[180],"framework.":[181]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-04-04T00:00:00"}