{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,5]],"date-time":"2026-06-05T16:13:07Z","timestamp":1780675987275,"version":"3.54.1"},"reference-count":48,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"Jilin Province Key Science and Technology Research and Development Project","award":["20180201040GX"],"award-info":[{"award-number":["20180201040GX"]}]},{"name":"Aeronautical Science Foundation of China","award":["2019ZA0R4001"],"award-info":[{"award-number":["2019ZA0R4001"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51505174"],"award-info":[{"award-number":["51505174"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Scientific and Technological Development Program of Jilin Province of China","award":["20170101206JC"],"award-info":[{"award-number":["20170101206JC"]}]},{"name":"Foundation of Education Bureau of Jilin Province","award":["JJKH20170789KJ"],"award-info":[{"award-number":["JJKH20170789KJ"]}]},{"name":"Doctoral Program of Higher Education of China","award":["20130061120038"],"award-info":[{"award-number":["20130061120038"]}]},{"name":"National Key Research and Development Program of China","award":["2017YFC0602002"],"award-info":[{"award-number":["2017YFC0602002"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2021]]},"DOI":"10.1109\/access.2021.3062375","type":"journal-article","created":{"date-parts":[[2021,2,26]],"date-time":"2021-02-26T20:48:46Z","timestamp":1614372526000},"page":"40728-40742","source":"Crossref","is-referenced-by-count":156,"title":["Path Planning and Obstacle Avoiding of the USV Based on Improved ACO-APF Hybrid Algorithm With Adaptive Early-Warning"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4198-7687","authenticated-orcid":false,"given":"Yanli","family":"Chen","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3917-5700","authenticated-orcid":false,"given":"Guiqiang","family":"Bai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yin","family":"Zhan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinyu","family":"Hu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"crossref","first-page":"117","DOI":"10.4028\/www.scientific.net\/SSP.196.117","article-title":"Course control of unmanned surface vehicle","volume":"196","author":"piotr","year":"2013","journal-title":"Solid State Phenomena"},{"key":"ref38","first-page":"17","article-title":"A definition of the evasive domain","volume":"65","author":"fujii","year":"1980","journal-title":"J Japan Inst Navigat"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/11881223_28"},{"key":"ref32","first-page":"23","article-title":"Ant colony optimization with improved potential field heuristic for robot path planning","volume":"50","author":"zhang","year":"2019","journal-title":"Trans Chin Soc Agricult Machinery"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2016.05.040"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s10489-009-0179-6"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-016-0362-z"},{"key":"ref36","first-page":"166","article-title":"Mobile robot path planning based on improved ant colony algorithm","volume":"16","author":"hou","year":"2017","journal-title":"Software Guide"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2020.2998137"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/s12652-019-01531-8"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1006\/jmps.1998.1238"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/CAC.2017.8243858"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2008.2008561"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.04.055"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.23919\/OCEANS40490.2019.8962629"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2018.10.008"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2016.2623666"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s10489-017-1014-0"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2018.2882130"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-14533-9_60"},{"key":"ref19","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: A versatile and accurate monocular SLAM system","volume":"31","author":"mur-artal","year":"2015","journal-title":"IEEE Trans Robot"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2015.02.033"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1243\/14750902JEME80"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3043539"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.4173\/mic.2008.4.2"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21424"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3016565"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1080\/20464177.2011.11020248"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2018.01.025"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2012.09.008"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.2019.2914986"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/6392697"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2746752"},{"key":"ref46","first-page":"3262","article-title":"A novel of repulsive function on artificial potential field for robot path planning","volume":"6","author":"triharminto","year":"2016","journal-title":"International Journal of Computers and Electrical Engineering"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0269888919000183"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/70.880813"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.3723\/ut.33.031"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijar.2016.02.003"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/AMM.529.646"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2668603"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-008-9100-0"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2019.2909253"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ChiCC.2015.7260979"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21907"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131810"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.12.009"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1108\/IR-05-2015-0097"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2935964"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/9312710\/09363901.pdf?arnumber=9363901","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,12,17]],"date-time":"2021-12-17T19:57:05Z","timestamp":1639771025000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9363901\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"references-count":48,"URL":"https:\/\/doi.org\/10.1109\/access.2021.3062375","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]}}}