{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T14:30:48Z","timestamp":1780065048728,"version":"3.54.0"},"reference-count":24,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2024,8,30]],"date-time":"2024-08-30T00:00:00Z","timestamp":1724976000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we present a novel three-dimensional spatial path planning algorithm based on the Vector Field Histogram* (VFH*) approach, specifically tailored for underwater robotics applications. Our method leverages the strengths of VFH* in obstacle avoidance while enhancing its capability to handle complex three-dimensional environments. Through extensive simulations, we demonstrate the superior performance of our algorithm compared to traditional methods, such as RS-RRT algorithm. Our results show significant improvements in terms of computational efficiency and path optimality, making it a viable solution for real-time path planning in dynamic underwater environments.<\/jats:p>","DOI":"10.3390\/s24175647","type":"journal-article","created":{"date-parts":[[2024,8,30]],"date-time":"2024-08-30T09:39:32Z","timestamp":1725010772000},"page":"5647","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Design of Three-Dimensional Spatial Path Planning Algorithm Based on Vector Field Histogram*"],"prefix":"10.3390","volume":"24","author":[{"given":"Chenning","family":"Zong","sequence":"first","affiliation":[{"name":"College of Electronic Science and Engineering, Jilin University, Changchun 130012, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9612-7580","authenticated-orcid":false,"given":"Qiaoling","family":"Du","sequence":"additional","affiliation":[{"name":"College of Electronic Science and Engineering, Jilin University, Changchun 130012, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianxu","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Electronic Science and Engineering, Jilin University, Changchun 130012, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiran","family":"Shan","sequence":"additional","affiliation":[{"name":"College of Electronic Science and Engineering, Jilin University, Changchun 130012, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanpei","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Electronic Science and Engineering, Jilin University, Changchun 130012, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhida","family":"Sha","sequence":"additional","affiliation":[{"name":"College of Electronic Science and Engineering, Jilin University, Changchun 130012, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,30]]},"reference":[{"key":"ref_1","unstructured":"Li, G., and Shi, H. (2008, January 2\u20134). Study of Technology on Path Planning for Mobile Robots. Proceedings of the Chinese Control and Decision Conference, Yantai, China."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Li, Z., Wang, Y., Yang, W., and Ji, Y. (2020, January 27\u201328). Development Status and Key Navigation Technology Analysis of Autonomous Underwater Vehicles. Proceedings of the 2020 3rd International Conference on Unmanned Systems (ICUS), Harbin, China.","DOI":"10.1109\/ICUS50048.2020.9274926"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1007\/s10846-022-01794-y","article-title":"Intelligent Path Planning Technologies of Underwater Vehicles","volume":"107","author":"An","year":"2023","journal-title":"J. Intell. Robot. 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