{"id":"https://openalex.org/W2125794662","doi":"https://doi.org/10.1109/tim.2010.2058531","title":"Characterizing Indoor Environment for Robot Navigation Using Velocity Space Approach With Region Analysis and Look-Ahead Verification","display_name":"Characterizing Indoor Environment for Robot Navigation Using Velocity Space Approach With Region Analysis and Look-Ahead Verification","publication_year":2010,"publication_date":"2010-09-07","ids":{"openalex":"https://openalex.org/W2125794662","doi":"https://doi.org/10.1109/tim.2010.2058531","mag":"2125794662"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2010.2058531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2010.2058531","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","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/A5102022148","display_name":"Chih\u2010Chung Chou","orcid":"https://orcid.org/0000-0002-0044-8898"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Chih-Chung Chou","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084614095","display_name":"Feng\u2010Li Lian","orcid":"https://orcid.org/0000-0002-1260-4894"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Feng-Li Lian","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Dept. of Electr. Eng.. Nat. Taiwan Univ., Taipei, Taiwan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041579723","display_name":"Chieh\u2010Chih Wang","orcid":"https://orcid.org/0000-0001-9385-0044"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chieh-Chih Wang","raw_affiliation_strings":["Graduate Institute of Networking and Multimedia, Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan","[dept. of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan]"],"affiliations":[{"raw_affiliation_string":"Graduate Institute of Networking and Multimedia, Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"[dept. of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan]","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102022148"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":2.231,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.89310366,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"60","issue":"2","first_page":"442","last_page":"451"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/maxima-and-minima","display_name":"Maxima and minima","score":0.7122957110404968},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6876455545425415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6043505668640137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5613692998886108},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.505612850189209},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.482328861951828},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4321081042289734},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32834285497665405},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2073831856250763}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.7122957110404968},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6876455545425415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6043505668640137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5613692998886108},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.505612850189209},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.482328861951828},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4321081042289734},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32834285497665405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2073831856250763},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2010.2058531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2010.2058531","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7599999904632568,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1585381382","https://openalex.org/W2099144379","https://openalex.org/W2104067547","https://openalex.org/W2105289524","https://openalex.org/W2114476723","https://openalex.org/W2117211893","https://openalex.org/W2121204166","https://openalex.org/W2122410182","https://openalex.org/W2122841745","https://openalex.org/W2125409550","https://openalex.org/W2131505299","https://openalex.org/W2149736015","https://openalex.org/W2156060732","https://openalex.org/W2165852544","https://openalex.org/W2166279105","https://openalex.org/W2169180499","https://openalex.org/W2171331791","https://openalex.org/W2623293810","https://openalex.org/W4236251699","https://openalex.org/W6675844761","https://openalex.org/W6683427002"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W2909957174","https://openalex.org/W1530716399","https://openalex.org/W2385103705","https://openalex.org/W1521225173","https://openalex.org/W1763186290","https://openalex.org/W2583795800","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Based":[0],"on":[1],"the":[2,57,62,82,85,102,110,115,121,124,149,163],"dynamic":[3],"window":[4],"approach":[5],"(DWA)":[6],"for":[7,23,31,51],"robot":[8,63,122],"navigation,":[9],"this":[10],"paper":[11],"presents":[12],"a":[13,43,52,69,92,128],"local":[14],"reactive":[15],"method,":[16],"called":[17],"DWA":[18,40,87,154],"<sub":[19,88,104,155],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[20,89,105,156],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sub>":[21,90,106,157],",":[22],"mobile":[24,143],"robots":[25,144],"to":[26,49,79,96,113,123,147],"characterize":[27],"unknown":[28],"indoor":[29],"environments":[30],"achieving":[32],"high-speed,":[33],"smooth,":[34],"and":[35,72,100,136,141],"local-minima-free":[36],"navigation.":[37],"The":[38],"original":[39,164],"utilizes":[41],"only":[42],"small":[44],"part":[45],"of":[46,131,152,161],"environmental":[47],"information":[48],"search":[50,107],"proper":[53],"motion":[54,59],"command":[55,117],"in":[56,74],"robot's":[58],"space.":[60],"Hence,":[61],"can":[64,119],"be":[65],"easily":[66],"driven":[67],"into":[68],"local-minima":[70,83],"area":[71],"trapped":[73],"complex":[75],"environments.":[76],"In":[77],"order":[78],"escape":[80],"from":[81],"area,":[84],"proposed":[86],"applies":[91],"region":[93],"analysis":[94],"technique":[95],"filter":[97],"improper":[98],"commands,":[99],"uses":[101],"A":[103],"algorithm":[108],"with":[109,159],"look-ahead":[111],"verification":[112],"determine":[114],"optimal":[116],"that":[118,160],"lead":[120],"best":[125],"consequence":[126],"after":[127],"designated":[129],"number":[130],"steps.":[132],"Finally,":[133],"related":[134],"simulation":[135],"experimental":[137],"results":[138],"using":[139,153,162],"laser-":[140],"sonar-based":[142],"are":[145],"presented":[146],"illustrate":[148],"excellent":[150],"performance":[151],"compared":[158],"DWA.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
