{"id":"https://openalex.org/W1965621518","doi":"https://doi.org/10.1108/01439911211217116","title":"Obstacle\u2010responsive navigation scheme of a wheeled mobile robot based on look\u2010ahead control","display_name":"Obstacle\u2010responsive navigation scheme of a wheeled mobile robot based on look\u2010ahead control","publication_year":2012,"publication_date":"2012-04-27","ids":{"openalex":"https://openalex.org/W1965621518","doi":"https://doi.org/10.1108/01439911211217116","mag":"1965621518"},"language":"en","primary_location":{"id":"doi:10.1108/01439911211217116","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911211217116","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049373791","display_name":"Yu Yu Lwin","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yu Yu Lwin","raw_affiliation_strings":["Graduate School of Science and Technology, Tokai University, Hiratsuka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Tokai University, Hiratsuka, Japan","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110490883","display_name":"Yoshio Yamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshio Yamamoto","raw_affiliation_strings":["Department of Precision Engineering, Tokai University, Hiratsuka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Tokai University, Hiratsuka, Japan","institution_ids":["https://openalex.org/I1314466530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049373791"],"corresponding_institution_ids":["https://openalex.org/I1314466530"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.05001335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"39","issue":"3","first_page":"282","last_page":"293"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7621513605117798},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6565664410591125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.637851357460022},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5803750157356262},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5465429425239563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5382205843925476},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5001311302185059},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4721396267414093},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45856985449790955},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.44177600741386414},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4377056658267975},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4313172698020935},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39318522810935974},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38513636589050293},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38153570890426636},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.350954532623291},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2660847306251526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22042468190193176},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10306718945503235}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7621513605117798},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6565664410591125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.637851357460022},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5803750157356262},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5465429425239563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5382205843925476},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5001311302185059},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4721396267414093},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45856985449790955},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.44177600741386414},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4377056658267975},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4313172698020935},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39318522810935974},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38513636589050293},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38153570890426636},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.350954532623291},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2660847306251526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22042468190193176},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10306718945503235},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439911211217116","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911211217116","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W43832455","https://openalex.org/W324332537","https://openalex.org/W1655959979","https://openalex.org/W1963997862","https://openalex.org/W1965927851","https://openalex.org/W1969925156","https://openalex.org/W1996470323","https://openalex.org/W2004835121","https://openalex.org/W2038918096","https://openalex.org/W2043076549","https://openalex.org/W2052121894","https://openalex.org/W2093077928","https://openalex.org/W2103120971","https://openalex.org/W2109897681","https://openalex.org/W2114309107","https://openalex.org/W2118879395","https://openalex.org/W2127377049","https://openalex.org/W2128874600","https://openalex.org/W2129172570","https://openalex.org/W2145401835","https://openalex.org/W2153574945","https://openalex.org/W2159456898","https://openalex.org/W2165284796","https://openalex.org/W2168801682","https://openalex.org/W2185621786","https://openalex.org/W2337849407","https://openalex.org/W6601784267","https://openalex.org/W6703846585"],"related_works":["https://openalex.org/W2602324145","https://openalex.org/W972312834","https://openalex.org/W3151316732","https://openalex.org/W2100843709","https://openalex.org/W96110148","https://openalex.org/W2134462460","https://openalex.org/W3203468855","https://openalex.org/W2166967570","https://openalex.org/W1613485550","https://openalex.org/W2704438529"],"abstract_inverted_index":{"Purpose":[0],"The":[1,93,232,254],"purpose":[2],"of":[3,44,139,203,206,214,267],"this":[4],"paper":[5],"is":[6,14,53,66,95,104,145,184,235],"to":[7,16,181,236,242,244],"design":[8],"a":[9,18,41,51,71,80,258],"mobile":[10,240,268],"robot":[11,219,230,241],"controller":[12,169],"which":[13,25],"able":[15],"pursue":[17],"given":[19],"goal":[20,33,52,154],"with":[21,82,106,114,251],"obstacle\u2010avoiding":[22,109],"capability":[23],"in":[24,40,68,222],"the":[26,32,83,87,91,98,102,108,132,140,167,192,204,209,239,245],"two":[27,112],"tasks,":[28,153],"i.e.":[29],"aiming":[30,155],"at":[31],"and":[34,70,128,137,143,156,164,177,188,260],"avoiding":[35,79],"obstacles,":[36,198],"are":[37,117],"fused":[38],"together":[39],"coherent":[42],"framework":[43,263],"look\u2010ahead":[45,210],"control":[46,211,238],"method.":[47],"Design/methodology/approach":[48],"Navigation":[49],"toward":[50,90],"typically":[54],"executed":[55],"based":[56],"on":[57,78],"global":[58],"information":[59],"obtained":[60],"from":[61],"GPS.":[62],"Obstacle":[63],"avoidance,":[64],"however,":[65],"local":[67],"nature,":[69],"higher":[72],"priority":[73],"temporarily":[74],"should":[75],"be":[76,161],"placed":[77],"collision":[81,157],"obstacle":[84],"than":[85],"taking":[86],"shortest":[88],"path":[89],"goal.":[92],"former":[94],"handled":[96],"by":[97,107,123,170],"goal\u2010aiming":[99],"mode":[100],"while":[101],"latter":[103],"dealt":[105],"mode.":[110],"These":[111],"tasks":[113],"different":[115,152],"natures":[116],"treated":[118],"under":[119],"so\u2010called":[120],"\u201clook\u2010ahead":[121],"control\u201d":[122],"simply":[124],"changing":[125],"coordinate":[126,173],"frames":[127],"associated":[129],"elements":[130],"within":[131,166],"same":[133,168],"controller.":[134],"Therefore,":[135],"continuity":[136],"smoothness":[138,213],"resulting":[141,215],"motion":[142],"trajectory":[144],"maintained":[146],"throughout":[147],"its":[148,172],"mission.":[149],"Findings":[150],"Two":[151],"avoiding,":[158],"can":[159,195],"smoothly":[160],"switched":[162],"back":[163],"forth":[165],"replacing":[171],"frame,":[174],"decoupling":[175],"matrix":[176],"corresponding":[178],"reference":[179],"signals":[180],"follow.":[182],"It":[183],"found":[185],"through":[186],"simulation":[187],"real":[189],"experiments":[190],"that":[191],"proposed":[193,255],"scheme":[194],"graciously":[196],"handle":[197],"static":[199],"or":[200],"dynamic,":[201],"regardless":[202],"number":[205],"obstacles.":[207,253],"Also,":[208],"guarantees":[212],"trajectories.":[216],"Originality/value":[217],"Mobile":[218],"autonomous":[220],"navigation":[221,262],"outdoor":[223,272],"obstructed":[224],"areas":[225],"offers":[226],"challenging":[227],"study":[228],"for":[229,264,271],"researchers.":[231],"vital":[233],"aspect":[234],"smartly":[237],"move":[243],"desired":[246],"location":[247],"autonomously,":[248],"without":[249],"colliding":[250],"any":[252,265],"method":[256],"provides":[257],"stable":[259],"robust":[261],"kind":[266],"robot,":[269],"especially":[270],"use.":[273]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}