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The Vector Field Histogram -- Fast Obstacle Avoidance For Mobile Robots (1991)

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by J. Borenstein , Y. Koren
Venue:IEEE JOURNAL OF ROBOTICS AND AUTOMATION
Citations:484 - 24 self
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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   

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