The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
The vector field histogram-fast obstacle avoidance for mobile robots
Abstract
A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. This method, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuously with range data sampled by onboard range sensors. The VFH method subsequently uses a two-stage data-reduction process to compute the desired control commands for the vehicle. Experimental results from a mobile robot traversing densely cluttered obstacle courses in smooth and continuous motion and at an average speed of 0.6-0.7 m/s are shown. A comparison of the VFN method to earlier methods is given.>
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Citations
Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
A robust layered control system for a mobile robot
Brooks, R. (1986) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1986.1087032 · Cited by 7,799 · cited 4×
“By contrast, Brooks [8,9] and Arkin [1] use a potential field method on experimental mobile robots (equipped with a ring of ultrasonic sensors).”
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Cited by
Target-driven visual navigation in indoor scenes using deep reinforcement learning
Zhu, Y., Mottaghi, R., Kolve, E., Lim, J. J., Gupta, A., Fei-Fei, L., & Farhadi, A. (2017) · 2017 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2017.7989381 · Cited by 1,533
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Ge, S. S., & Cui, Y. J. (2002) · Autonomous Robots · doi:10.1023/a:1020564024509 · Cited by 803
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
A dynamical system approach to realtime obstacle avoidance
Khansari-Zadeh, S. M., & Billard, A. (2012) · Autonomous Robots · doi:10.1007/s10514-012-9287-y · Cited by 264
A state-of-the-art 3D sensor for robot navigation
Weingarten, J. W., Gruener, G., & Siegwart, R. (2005) · 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) · doi:10.1109/iros.2004.1389728 · Cited by 96
Metadata
- Authors
- Borenstein, J., & Koren, Y.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1991-06
- Volume
- 7
- Issue
- 3
- Pages
- 278-288
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2125409550
- Cited by
- 2,301
- References
- 2
- FWCI
- 18.41
- Type
- journal article
- Language
- en
- Open access
- closed
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- Borenstein, J., & Koren, Y. (1991). The vector field histogram-fast obstacle avoidance for mobile robots. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.88137
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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