{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T06:19:57Z","timestamp":1776493197738,"version":"3.51.2"},"reference-count":26,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2018,12,21]],"date-time":"2018-12-21T00:00:00Z","timestamp":1545350400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61771399"],"award-info":[{"award-number":["61771399"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61873205"],"award-info":[{"award-number":["61873205"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010012","name":"National Aerospace Science Foundation of China","doi-asserted-by":"publisher","award":["2017-HT-XG"],"award-info":[{"award-number":["2017-HT-XG"]}],"id":[{"id":"10.13039\/501100010012","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents the problem of obstacle avoidance with bearing-only measurements in the case that the obstacle motion is model-free, i.e., its acceleration is absolutely unknown, which cannot be dealt with by the mainstream Kalman-like schemes based on the known motion model. First, the essential reason of the collision caused by local minimum problem in the standard artificial potential field method is proved, and hence a revised method with angle dependent factor is proposed. Then, an unknown input observer is proposed to estimate the position and velocity of the obstacle. Finally, the numeric simulation demonstrates the effectiveness in terms of estimation accuracy and terminative time.<\/jats:p>","DOI":"10.3390\/s19010031","type":"journal-article","created":{"date-parts":[[2018,12,21]],"date-time":"2018-12-21T09:24:11Z","timestamp":1545384251000},"page":"31","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Bearing-Only Obstacle Avoidance Based on Unknown Input Observer and Angle-Dependent Artificial Potential Field"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9466-8858","authenticated-orcid":false,"given":"Xiaohua","family":"Wang","sequence":"first","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Yan","family":"Liang","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Shun","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Linfeng","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,12,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1223","DOI":"10.1109\/TCST.2012.2198650","article-title":"Multiagent information fusion and cooperative control in target search","volume":"21","author":"Hu","year":"2013","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1016\/j.ast.2015.09.037","article-title":"Real-time path planning of unmanned aerial vehicle for target tracking and obstacle avoidance in complex dynamic environment","volume":"47","author":"Yao","year":"2015","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Khatib, O. (1986). Real-time obstacle avoidance for manipulators and mobile robots. Autonomous Robot Vehicles, Springer.","DOI":"10.1007\/978-1-4613-8997-2_29"},{"key":"ref_4","unstructured":"Koren, Y., and Borenstein, J. (1991, January 9\u201311). Potential field methods and their inherent limitations for mobile robot navigation. Proceedings of the 1991 IEEE International Conference on on Robotics and Automation(ICRA), Sacramento, CA, USA."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"224","DOI":"10.1109\/21.148426","article-title":"Numerical potential field techniques for robot path planning","volume":"22","author":"Barraquand","year":"1992","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1023\/A:1020564024509","article-title":"Dynamic motion planning for mobile robots using potential field method","volume":"13","author":"Ge","year":"2002","journal-title":"Auton. Robot."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Doria, N.S.F., Freire, E.O., and Basilio, J.C. (2013, January 25\u201329). An algorithm inspired by the deterministic annealing approach to avoid local minima in artificial potential fields. Proceedings of the 2013 International Conference on Robotics and Automation (ICRA), Montevideo, Uruguay.","DOI":"10.1109\/ICAR.2013.6766480"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1109\/70.143352","article-title":"Real-time obstacle avoidance using harmonic potential functions","volume":"8","author":"Kim","year":"1992","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_9","unstructured":"Chengqing, L., Ang, M.H., and Krishnan, H. (2000, January 24\u201328). Virtual obstacle concept for local-minimum-recovery in potential-field based navigation. Proceedings of the 2000 IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, USA."},{"key":"ref_10","unstructured":"Sorenson, H. (1985). Kalman Fltering: Theory and Application, IEEE."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1016\/j.ast.2012.02.023","article-title":"Optimal sequential Kalman filtering with cross-correlated measurement noises","volume":"26","author":"Wen","year":"2013","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1392","DOI":"10.1016\/j.robot.2013.07.013","article-title":"Observability-based local path planning and obstacle avoidance using bearing-only measurements","volume":"61","author":"Yu","year":"2013","journal-title":"Robot. Auton. Syst."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1016\/j.ast.2016.08.010","article-title":"Path planning for two unmanned aerial vehicles in passive localization of radio sources","volume":"58","author":"Shahidian","year":"2016","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"2594","DOI":"10.1109\/TAES.2017.2705518","article-title":"Constrained dynamic systems: Generalized modeling and state estimation","volume":"53","author":"Xu","year":"2017","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"390","DOI":"10.1109\/70.88149","article-title":"Hidden Markov model for dynamic obstacle avoidance of mobile robot navigation","volume":"7","author":"Zhu","year":"2002","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1109\/TAES.2015.140423","article-title":"Hybrid grid multiple-model estimation with application to maneuvering target tracking","volume":"52","author":"Xu","year":"2016","journal-title":"IEEE Trans. Aerosp. Electron. Syst. (TAES)"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1109\/7.640267","article-title":"Interacting multiple model methods in target tracking: A survey","volume":"34","author":"Mazor","year":"1998","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Althoff, D., Wollherr, D., and Buss, M. (2011, January 9\u201313). Safety assessment of trajectories for navigation in uncertain and dynamic environments. Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China.","DOI":"10.1109\/ICRA.2011.5980115"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1007\/s00138-007-0116-9","article-title":"Intentional motion on-line learning and prediction","volume":"19","author":"Vasquez","year":"2008","journal-title":"Machi. Vis. Appl."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1007\/s10514-013-9334-3","article-title":"Probabilistically safe motion planning to avoid dynamic obstacles with uncertain motion patterns","volume":"35","author":"Aoude","year":"2013","journal-title":"Auton. Robot."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Jacquemart-Tomi, D., Morio, J., and Le Gland, F. (2013, January 8\u201311). A combined improtance splitting and sampling algorithm for rare event estimation. Proceedings of the 2013 Winter Simulation Conference: Simulation: Making Decisions in a Complex World, Washington, DC, USA.","DOI":"10.1109\/WSC.2013.6721493"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"383","DOI":"10.1007\/s10514-011-9248-x","article-title":"Bayesian nonparametric approach to modeling motion patterns","volume":"31","author":"Joseph","year":"2011","journal-title":"Auton. Robot."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.inffus.2016.04.002","article-title":"Model-reduced fault detection for multi-rate sensor fusion with unknown inputs","volume":"33","author":"Geng","year":"2017","journal-title":"Inf. Fusion"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Sola, J., Monin, A., Devy, M., and Lemaire, T. (2005, January 2\u20136). Undelayed initialization in bearing-only SLAM. Proceedings of the 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Edmonton, AB, Canada.","DOI":"10.1109\/IROS.2005.1545392"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"2362","DOI":"10.1002\/rnc.3208","article-title":"Multi-target localization and circumnavigation by a single agent using bearing measurements","volume":"25","author":"Deghat","year":"2015","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"303","DOI":"10.1140\/epjb\/e2009-00438-2","article-title":"Traffic optimization in transport networks based on local routing","volume":"73","author":"Scellato","year":"2010","journal-title":"Eur. Phys. J. B"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/1\/31\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:35:34Z","timestamp":1760196934000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/1\/31"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,12,21]]},"references-count":26,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2019,1]]}},"alternative-id":["s19010031"],"URL":"https:\/\/doi.org\/10.3390\/s19010031","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,12,21]]}}}