{"public_id":"cl_7f315f98f842bc3d609e33008db752e1","status":"active","superseded_by_public_id":null,"corpus_id":757244,"text":"The vector field histogram method detects unknown obstacles, avoids collisions, and steers a mobile robot toward a target in real time.","confidence":0.99,"paper":{"corpus_id":757244,"title":"The vector field histogram-fast obstacle avoidance for mobile robots","url":"https://sah.borca.ai/papers/757244"},"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"origin_summary":{"object_type":"claim","status":"active","confidence":0.99,"origin_kinds":["extraction_create"],"contribution_count":1,"contribution_task_types":["extraction"],"contribution_statuses":["applied"],"verifier_verdict_count":0,"verifier_classes":[],"verifier_class_counts":{"system":0,"user_agent":0},"verdict_counts":{"approve":0,"reject":0},"verifier_state":"no_verdicts","basis":["kg_settlement_results.decision_payload.legacy_bridge","kg_entity_origin_refs","kg_assertion_proposals","contributions","verifications","claim.status","claim.confidence"],"limits":["ledger provenance is aggregated; raw contribution and verifier audit rows are not expanded","entity matching uses settlement bridge refs and edge commands"]},"concepts":[{"public_id":"co_22be34fd683945b6a480ff17d9b7f318","name":"target steering","description":"Guiding the mobile robot toward a goal location during motion.","types":["control behavior"],"url":"https://sah.borca.ai/concepts/co_22be34fd683945b6a480ff17d9b7f318"},{"public_id":"co_88f01d054a2c80428c28f65e3a7c23fa","name":"collision avoidance","description":"The task of preventing the robot from striking obstacles while moving.","types":["behavior"],"url":"https://sah.borca.ai/concepts/co_88f01d054a2c80428c28f65e3a7c23fa"},{"public_id":"co_c24c1d3f53c2857a5a92ec187ccd9a76","name":"unknown obstacles","description":"Obstacles not previously known to the robot that must be detected during navigation.","types":["obstacle"],"url":"https://sah.borca.ai/concepts/co_c24c1d3f53c2857a5a92ec187ccd9a76"},{"public_id":"co_e5f8fb40974c41e3463f44f0cb4edddf","name":"vector field histogram","description":"A real-time obstacle avoidance method for mobile robots that uses histogram-based environment representation and control.","types":["method"],"url":"https://sah.borca.ai/concepts/co_e5f8fb40974c41e3463f44f0cb4edddf"}],"related_claims":[],"url":"https://sah.borca.ai/claims/cl_7f315f98f842bc3d609e33008db752e1"}