The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Potential field methods and their inherent limitations for mobile robot navigation
Abstract
Based on a rigorous mathematical analysis, the authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs). The authors previously (1989) developed a PFM called the virtual force field (VFF) method. Much insight has been gained into the strengths and weaknesses of this method. Four distinct drawbacks with PFMs are identified. Because of these drawbacks, the authors abandoned potential field methods and developed a new method for fast obstacle avoidance. This method, called the vector field histogram method, produces smooth, nonoscillatory motion, while sampling time and hardware are identical to those used in the VFF 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
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
- Koren, Y., & Borenstein, J.
- Venue
- Proceedings. 1991 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-10
- Pages
- 1398-1404
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2113286054
- Cited by
- 1,570
- References
- 1
- FWCI
- 35.79
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Koren, Y., & Borenstein, J. (2002). Potential field methods and their inherent limitations for mobile robot navigation. Proceedings. 1991 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1991.131810
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