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The Vector Field Histogram -- Fast Obstacle Avoidance For Mobile Robots
- IEEE JOURNAL OF ROBOTICS AND AUTOMATION
, 1991
"... A new real-time obstacle avoidance method for mobile robots has been developed and implemented. 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 ..."
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Cited by 484 (24 self)
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A new real-time obstacle avoidance method for mobile robots has been developed and implemented. 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 gridas a world model. This world model is updated continuously with range data sampled by on-board range sensors. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram gridis reduced to a onedimensional polar histogramthat is constructed around the robot's momentary location. Each sector in the polar histogramcontains a value representing the polar obstacle densityin that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. Experimental results from a mobile robot traversing densely cluttered obstacle courses in smooth and continuous motion and at an average speed of 0.6 0.7m/sec demonstrate the power of the VFH method.
VFH+: Reliable obstacle avoidance for fast mobile robots. In:
- IEEE International Conference on Robotics and Automation,
, 1998
"... ABSTRACT This paper presents further developments of the earlier Vector Field Histogram (VFH) method for realtime mobile robot obstacle avoidance. The enhanced method, called VFH+, offers several improvements that result in smoother robot trajectories and greater reliability. VFH+ reduces some of t ..."
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Cited by 166 (6 self)
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ABSTRACT This paper presents further developments of the earlier Vector Field Histogram (VFH) method for realtime mobile robot obstacle avoidance. The enhanced method, called VFH+, offers several improvements that result in smoother robot trajectories and greater reliability. VFH+ reduces some of the parameter tuning of the original VFH method by explicitly compensating for the robot width. Also added in VFH+ is a better approximation of the mobile robot trajectory, which results in higher reliability.
Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios
- IEEE Transactions on Robotics and Automation
, 2004
"... This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the naviga ..."
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Cited by 108 (27 self)
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This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the navigation. Many techniques could be used to implement this design (since it is described at symbolic level), leading to new reactive methods that must be able to navigate in arduous environments (as the difficulty of the navigation is simplified). We also propose a geometry-based implementation of our design called the nearness diagram navigation. The advantage of this reactive method is to successfully move robots in troublesome scenarios, where other methods present a high degree of difficulty in navigating. We show experimental results on a real vehicle to validate this research, and a discussion about the advantages and limitations of this new approach.
Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation
, 1998
"... Telerobotic systems have traditionally been designed and operated from a human point of view. Though this approach suffices for some domains, it is clearly sub-optimal for tasks such as operating multiple vehicles or controlling planetary rovers. Thus, I believe it is worthwhile to examine a new tel ..."
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Cited by 67 (6 self)
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Telerobotic systems have traditionally been designed and operated from a human point of view. Though this approach suffices for some domains, it is clearly sub-optimal for tasks such as operating multiple vehicles or controlling planetary rovers. Thus, I believe it is worthwhile to examine a new teleoperation approach: collaborative control. In this robot-centric model, instead of the human always being "in charge", the robot works as a peer and makes requests of the human. In other words, the human is treated as an imprecise, limited source of planning and information, just like sensors and maps and other noisy modules. To examine the numerous human-machine interaction and system design issues raised by this new approach, I propose to build a vehicle teleoperation system based on collaborative control. In my research, I will show how this approach enables efficient teleoperation and optimizes use of human resources.
Characterization of a 2-D Laser Scanner for Mobile Robot Obstacle Negotiation
- In Proceedings of the IEEE International Conference on Robotics and Automation
, 2002
"... This paper presents a characterization study of the Sick LMS 200 laser scanner. A number of parameters, such as operation time, data transfer rate, target surface properties, as well as the incidence angle, which may potentially affect the sensing performance, are investigated. A probabilistic range ..."
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Cited by 46 (4 self)
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This paper presents a characterization study of the Sick LMS 200 laser scanner. A number of parameters, such as operation time, data transfer rate, target surface properties, as well as the incidence angle, which may potentially affect the sensing performance, are investigated. A probabilistic range measurement model is built based on the experimental results. The paper also analyzes the mixed pixels problem of the scanner.
Map-based navigation in mobile robots - II. A review of map-learning and path-planning strategies
, 2003
"... This article reviews map-learning and path-planning strategies within the context of map-based navigation in mobile robots. Concerning map-learning, it distinguishes metric maps from topological maps and describes procedures that help maintain the coherency of these maps. Concerning path-planning, i ..."
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Cited by 39 (11 self)
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This article reviews map-learning and path-planning strategies within the context of map-based navigation in mobile robots. Concerning map-learning, it distinguishes metric maps from topological maps and describes procedures that help maintain the coherency of these maps. Concerning path-planning, it distinguishes continuous from discretized spaces and describes procedures applicable when the execution of a plan fails. It insists on the need for an integrated conception of such procedures, that must be tightly tailored to the specific robot that is used - notably to the capacities and limitations of its sensory-motor equipment - and to the specific environment that is experienced. A hierarchy of navigation strategies is outlined in the discussion, together with the sort of adaptive capacities each affords to cope with unexpected obstacles or dangers encountered on an animat or robot's way to its goal.
Vision-Based Navigation by a Mobile Robot with Obstacle Avoidance using Single-Camera Vision and Ultrasonic Sensing
, 1998
"... This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a model-based vision system, and nonstop navigation is realized by a retroactive position correctio ..."
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Cited by 34 (2 self)
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This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We will report on experiments in a hallway using the YAMABICO robot. Index Terms---Mobile robot, non-stop navigation, obstacle avoidance, self-localization, ultrasonic sensing, vision. I. INTRODUCTION In what has become a fairly well-researched approach to vision based navigation for mobile robots, a robot is provided with an environmental map and a path to follow. The important function of vision-based processing in this case consists of "self-localization." For literature on this approach, the reader is referred to [6], [13], [18], and [19]. In a different appr...
Error Eliminating Rapid Ultrasonic Firing for Mobile Robot Obstacle Avoidance
- IEEE Transactions on Robotics and Automation
, 1995
"... This paper introduces error eliminating rapid ultrasonic firing(EERUF), a new method for firing multiple ultrasonic sensors in mobile robot applications. EERUF allows ultrasonic sensors to fire at rates that are five to ten times faster than those customary in conventional applications. This is poss ..."
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Cited by 32 (9 self)
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This paper introduces error eliminating rapid ultrasonic firing(EERUF), a new method for firing multiple ultrasonic sensors in mobile robot applications. EERUF allows ultrasonic sensors to fire at rates that are five to ten times faster than those customary in conventional applications. This is possible because EERUF reduces the number of erroneous readings due to ultrasonic noise by one to two orders of magnitude. While faster firing rates improve the reliability and robustness of mobile robot obstacle avoidance and are necessary for safe travel at higher speed (e.g., V > 0.3 m/sec), they introduce more ultrasonic noise and increase the occurrence rate of crosstalk. However, EERUF almost eliminates crosstalk, making fast firing feasible. Furthermore, ERRUF's unique noise rejection capability allows multiple mobile robots to collaborate in the same environment, even if their ultrasonic sensors operate at the same frequencies. We have implemented and tested the EERUF method on a mobile robot and we present experimental results. With EERUF, a mobile robot was able to traverse an obstacle course of densely spaced, pencil-thin (8 mm-diameter) poles at up to 1 m/sec. Keywords: Ultrasonic sensors, Mobile robots, Obstacle avoidance, Crosstalk, Noise rejection This work was sponsored in part by the Department of Energy Grant DE-FG02-86NE37969 and in part by the 1) Veterans Administration Grant 028085. Parts of the material in this paper were presented at the IEEE Conference on Robotics and Automation, Nice, 2) France, May 10-15,1992 Page 2 NOMENCLATURE a,b Index to alternating delays T or T . wait,a wait,b n,m Index to the nth (mth) occurrence of an event.
The GuideCane - Applying Mobile Robot Technologies to Assist the Visually Impaired
- IEEE Transactions on Systems, Man, and Cybernetics, -Part A: Systems and Humans
, 2001
"... The GuideCane is a novel device designed to help blind or visually impaired users navigate safely and quickly among obstacles and other hazards. During operation, the user pushes the lightweight GuideCane forward. When the GuideCane's ultrasonic sensors detect an obstacle, the embedded compute ..."
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Cited by 26 (0 self)
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The GuideCane is a novel device designed to help blind or visually impaired users navigate safely and quickly among obstacles and other hazards. During operation, the user pushes the lightweight GuideCane forward. When the GuideCane's ultrasonic sensors detect an obstacle, the embedded computer determines a suitable direction of motion that steers the GuideCane and the user around it. The steering action results in a very noticeable force felt in the handle, which easily guides the user without any conscious effort on his/her part. I.
