The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Real-time obstacle avoidance for fast mobile robots in cluttered environments
Abstract
The method described, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. A VFH-controlled mobile robot maneuvers quickly and without stopping among densely cluttered obstacles. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuously and in real time with range data sampled by the onboard ultrasonic range sensors. Based on the accumulated environmental data, the VFH method then computes a one-dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram holds the polar obstacle density in that direction. Finally, the algorithm selects the most suitable sector from among all polar histogram sectors with low obstacle density, and the steering of the robot is aligned with that direction. Experimental results from a mobile robot traversing a densely cluttered obstacle course at an average speed of 0.7 m/s demonstrate the power of the VFH method.>
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Citations
Cites
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 by
Choset, H., & Nagatani, K. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.928558 · Cited by 624
Dynamic Map Building for an Autonomous Mobile Robot
Leonard, J. J., Durrant-Whyte, H. F., & Cox, I. J. (1992) · The International Journal of Robotics Research · doi:10.1177/027836499201100402 · Cited by 414
Dynamics of behavior: Theory and applications for autonomous robot architectures
Schöner, G., Dose, M., & Engels, C. (1995) · Robotics and Autonomous Systems · doi:10.1016/0921-8890(95)00049-6 · Cited by 334
Metadata
- Authors
- Borenstein, J., & Koren, Y.
- Venue
- Proceedings., IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-04
- Pages
- 572-577
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2137448073
- Cited by
- 297
- References
- 1
- FWCI
- 11.66
- Type
- conference paper
- Language
- en
- Open access
- closed
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