张浩杰，苏治宝，苏波.基于深度Q网络学习的机器人端到端控制方法.仪器仪表学报. 2018, 39(10):70-77..

Haojie Zhang, David E.Hernandez, Zhibao Su and Bo Su. “A low cost vision-based road-following system for mobile robots”. Applied Sciences. 2018, 8(9):1635..

张浩杰，苏治宝，David E.Hernandez，苏波. 移动机器人低能耗最优路径规划方法. 农业机械学报. 2018, 49(9):19-26..

Haojie Zhang, Bo Su and Hong Meng. “Development and Implementation of a Robotic Inspection System for Power Substations”. Industrial Robot: An International Journal. 2017, 44(3):333-342..

Haojie Zhang, Bo Su and Zhibao Su. “Design and Implementation of a Task-oriented Robot for Power Substation”. Proceedings of the 8th International Conference on Social Robotics. 2016:746-752..

Haojie Zhang, Lijiang Wei and Huiyan Chen. “Differentially Constrained Path Planning with Graduated State Space”. Mechatronics. 2016, 38:132-142..

Haojie Zhang, Bo Su, Haiping Song and Xiong Wei. “Development and Implement of an Inspection Robot for Power Substation”. Proceedings of 2015 IEEE Intelligent Vehicle Symposium. 2015:121-125..

Haojie Zhang, Guangming Xiong, Yan Jiang and Huiyan Chen. “Anytime Path Planning in Graduated State Space”. Proceedings of 2013 IEEE Intelligent Vehicle Symposium. 2013:358-362..

张浩杰, 龚建伟, 姜岩, 熊光明, 陈慧岩. 基于变维度状态空间的增量启发式路径规划方法研究. 自动化学报. 2013, 39(10):1602-1610..

Haojie Zhang, Jianwei Gong, Yan Jiang, Guangming Xiong and Huiyan Chen. An Iterative Linear Quadratic Regulator Based Trajectory Tracking Controller for Wheeled Mobile Robot. Journal of Zhejiang University-SCIENCE C(Computer&Electronics). 2012, 13(8):593-600..