{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,12]],"date-time":"2025-06-12T10:23:34Z","timestamp":1749723814727},"reference-count":21,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5642,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1991,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this article, a new collision\u2010avoidance scheme is proposed for autonomous land vehicle (ALV) navigation in indoor corridors. The goal is to conduct indoor collisionfree navigation of a three\u2010wheel ALV among static obstacles with no <jats:italic>a priori<\/jats:italic> position information as well as moving obstacles with unknown trajectories. Based on the predicted positions of obstacles, a local collision\u2010free path is computed by the use of a modified version of the least\u2010mean\u2010square\u2010error (LMSE) classifier in pattern recognition. Wall and obstacle boundaries are sampled as a set of 2D coordinates, which are then viewed as feature points. Different weights are assigned to different feature points according to the distances of the feature points to the ALV location to reflect the locality of path planning. The trajectory of each obstacle is predicted by a real\u2010time LMSE estimation method. And the maneuvering board technique used for nautical navigation is employed to determine the speed of the ALV for each navigation cycle. Smooth collision\u2010free paths found in the simulation results are presented to show the feasibility of the proposed approach.<\/jats:p>","DOI":"10.1002\/rob.4620080507","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:45:48Z","timestamp":1183725948000},"page":"677-698","source":"Crossref","is-referenced-by-count":14,"title":["Collision avoidance by a modified least\u2010mean\u2010square\u2010error classification scheme for indoor autonomous land vehicle navigation"],"prefix":"10.1002","volume":"8","author":[{"given":"Ling\u2010Ling","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen\u2010Hsiang","family":"Tsai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1983.12684"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087052"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087089"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/34.3900"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88035"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700005038"},{"key":"e_1_2_1_8_2","unstructured":"G. T.Wilfong \u201cMotion planning for an autonomous vehicle \u201d in Proc. IEEE Int. Conf. Robotics Automat. Philadelphia PA 1988."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087051"},{"key":"e_1_2_1_10_2","unstructured":"D. T.Kuan J. C.Zamiska andR. A.Brooks \u201cNatural decomposition of free space for path planning \u201d in Proc. IEEE Int. Conf. Robotics Automat. St. Louis MO 1985."},{"issue":"3","key":"e_1_2_1_11_2","article-title":"Solving the find\u2010path problem by good representation of free space","volume":"13","author":"Brooks R. A.","year":"1983","journal-title":"IEEE Trans. Syst., Man, Cybernet."},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800406"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.44033"},{"key":"e_1_2_1_14_2","unstructured":"A. C.\u2010C.Meng \u201cFree space modeling and geometric motion planning under unexpected obstacles \u201d in Proc. IEEE Int. Conf. Artific. Intell. Applicat. San Diego CA March1988."},{"issue":"3","key":"e_1_2_1_15_2","article-title":"Toward efficient trajectory planning: The pathvelocity decomposition","volume":"5","author":"Kant K.","year":"1986","journal-title":"Int. J. Robotics Automat."},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88018"},{"key":"e_1_2_1_17_2","unstructured":"L.Tychonievich et al. \u201cA maneuvering\u2010board approach to path planning with moving obstacles \u201d in Proc. 11th Int. Joint Conf. Artific. Intell. Detroit MI 1989."},{"key":"e_1_2_1_18_2","unstructured":"N.KehtarnavazandS.Li \u201cA collision\u2010free navigation scheme in the presence of moving obstacles \u201d in Proc. IEEE Int. Conf. Computer Vision and Pattern Recog. Ann Arbor MI 1988."},{"key":"e_1_2_1_19_2","unstructured":"J. P. H.SteeleandG. P.Starr \u201cMobile robot path planning in dynamic environments \u201d in Proc. IEEE Int. Conf. Systems Man Cybernet. Beijing and Shenyang China 1988."},{"key":"e_1_2_1_20_2","volume-title":"System Identification: Least\u2010squares Methods","author":"Hsia T. C.","year":"1977"},{"key":"e_1_2_1_21_2","volume-title":"Pattern Recognition: A Statistical Approach","author":"Devijver P. A.","year":"1982"},{"key":"e_1_2_1_22_2","unstructured":"P. Y.KuandW. H.Tsai \u201cModel\u2010based guidance of autonomous land vehicles for indoor navigation \u201d in Proc. of 1989 Workshop on Computer Vision Graphics and Image Processing Taipei Taiwan ROC 1989."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620080507","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620080507","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T01:31:39Z","timestamp":1698024699000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620080507"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,10]]},"references-count":21,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1991,10]]}},"alternative-id":["10.1002\/rob.4620080507"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620080507","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,10]]}}}