{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T07:50:15Z","timestamp":1776757815693,"version":"3.51.2"},"reference-count":38,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,1,4]],"date-time":"2023-01-04T00:00:00Z","timestamp":1672790400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["52104170"],"award-info":[{"award-number":["52104170"]}]},{"name":"National Natural Science Foundation of China","award":["2022YFC2904105"],"award-info":[{"award-number":["2022YFC2904105"]}]},{"name":"National Natural Science Foundation of China","award":["CX20200243"],"award-info":[{"award-number":["CX20200243"]}]},{"name":"National Natural Science Foundation of China","award":["2020zzts194"],"award-info":[{"award-number":["2020zzts194"]}]},{"name":"National Key Research and Development Program of China","award":["52104170"],"award-info":[{"award-number":["52104170"]}]},{"name":"National Key Research and Development Program of China","award":["2022YFC2904105"],"award-info":[{"award-number":["2022YFC2904105"]}]},{"name":"National Key Research and Development Program of China","award":["CX20200243"],"award-info":[{"award-number":["CX20200243"]}]},{"name":"National Key Research and Development Program of China","award":["2020zzts194"],"award-info":[{"award-number":["2020zzts194"]}]},{"name":"Postgraduate Scientific Research Innovation Project of Hunan Province","award":["52104170"],"award-info":[{"award-number":["52104170"]}]},{"name":"Postgraduate Scientific Research Innovation Project of Hunan Province","award":["2022YFC2904105"],"award-info":[{"award-number":["2022YFC2904105"]}]},{"name":"Postgraduate Scientific Research Innovation Project of Hunan Province","award":["CX20200243"],"award-info":[{"award-number":["CX20200243"]}]},{"name":"Postgraduate Scientific Research Innovation Project of Hunan Province","award":["2020zzts194"],"award-info":[{"award-number":["2020zzts194"]}]},{"name":"Fundamental Research Funds for the Central Universities of Central South University","award":["52104170"],"award-info":[{"award-number":["52104170"]}]},{"name":"Fundamental Research Funds for the Central Universities of Central South University","award":["2022YFC2904105"],"award-info":[{"award-number":["2022YFC2904105"]}]},{"name":"Fundamental Research Funds for the Central Universities of Central South University","award":["CX20200243"],"award-info":[{"award-number":["CX20200243"]}]},{"name":"Fundamental Research Funds for the Central Universities of Central South University","award":["2020zzts194"],"award-info":[{"award-number":["2020zzts194"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Reactive navigation is the most researched navigation technique for underground vehicles. Local path planning is one of the main research difficulties in reactive navigation. At present, no technique can perfectly solve the problem of local path planning for the reactive navigation of underground vehicles. Aiming to address this problem, this paper proposes a new method for local path planning based on 2D LiDAR. First, we convert the LiDAR data into a binary image, and we then extract the skeleton of the binary image through a thinning algorithm. Finally, we extract the centerline of the current laneway from these skeletons and smooth the obtained roadway centerline as the current planned local path. Experiments show that the proposed method has high robustness and good performance. Additionally, the method can also be used for the global path planning of underground maps.<\/jats:p>","DOI":"10.3390\/rs15020309","type":"journal-article","created":{"date-parts":[[2023,1,5]],"date-time":"2023-01-05T02:00:57Z","timestamp":1672884057000},"page":"309","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["LiDAR-Based Local Path Planning Method for Reactive Navigation in Underground Mines"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4631-5705","authenticated-orcid":false,"given":"Yuanjian","family":"Jiang","sequence":"first","affiliation":[{"name":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4957-4035","authenticated-orcid":false,"given":"Pingan","family":"Peng","sequence":"additional","affiliation":[{"name":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liguan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiaheng","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiaxi","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongchun","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Resources and Safety Engineering, Central South University, Changsha 410083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1016\/S0020-0255(02)00227-X","article-title":"Reactive navigation and opportunistic localization for autonomous underground mining vehicles","volume":"145","author":"Roberts","year":"2002","journal-title":"Inf. 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