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The Vector Field Histogram -- Fast Obstacle Avoidance For Mobile Robots (1991)
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| Venue: | IEEE JOURNAL OF ROBOTICS AND AUTOMATION |
| Citations: | 466 - 23 self |
BibTeX
@ARTICLE{Borenstein91thevector,
author = {J. Borenstein and Y. Koren},
title = {The Vector Field Histogram -- Fast Obstacle Avoidance For Mobile Robots},
journal = {IEEE JOURNAL OF ROBOTICS AND AUTOMATION},
year = {1991},
volume = {7},
pages = {278--288}
}
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Abstract
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.
Keyphrases
mobile robot vfh method world model unknown obstacle momentary location two-dimensional cartesian histogram new real-time obstacle avoidance method polar histogram sector cluttered obstacle course continuous motion low polar obstacle density suitable sector on-board range sensor range data two-stage data-reduction process avoids collision vector field histogram second stage average speed histogram gridis first stage experimental result onedimensional polar polar obstacle densityin
