• Publications
  • Influence
The vector field histogram-fast obstacle avoidance for mobile robots
A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. Expand
  • 2,286
  • 137
  • PDF
VFH+: reliable obstacle avoidance for fast mobile robots
This paper presents further improvements on the earlier vector field histogram (VFH) method developed by Borenstein-Koren (1991) for real-time mobile robot obstacle avoidance. Expand
  • 672
  • 58
  • PDF
Measurement and correction of systematic odometry errors in mobile robots
This paper introduces practical methods for measuring and reducing odometry errors caused by the two dominant error sources in differential-drive mobile robots: 1) uncertainty about the effective wheelbase; and 2) unequal wheel diameters. Expand
  • 820
  • 55
  • PDF
Potential field methods and their inherent limitations for mobile robot navigation
  • Y. Koren, J. Borenstein
  • Engineering, Computer Science
  • Proceedings. IEEE International Conference on…
  • 9 April 1991
The authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs). Expand
  • 1,558
  • 49
  • PDF
Real-time obstacle avoidance for fast mobile robots in cluttered environments
This paper presents a new obstacle-avoidance method for fast-running vehicles. Expand
  • 655
  • 45
  • PDF
VFH/sup */: local obstacle avoidance with look-ahead verification
This paper presents an enhancement to the earlier developed vector field histogram method for mobile robot obstacle avoidance. Expand
  • 439
  • 30
  • PDF
Navigating Mobile Robots: Systems and Techniques
This is a survey of the state-of-the-art in sensors, systems, methods and technologies utilized by a mobile robot to determine its position in the environment. The many potential "solutions" areExpand
  • 721
  • 29
Mobile robot positioning: Sensors and techniques
This paper provides a review of relevant mobile robot positioning technologies for indoor robot navigation. Expand
  • 500
  • 24
  • PDF
Non-GPS navigation for security personnel and first responders
This paper introduces a “Personal Dead-reckoning” (PDR) navigation system for walking persons. The system is useful for monitoring the position of emergency responders inside buildings, where GPS isExpand
  • 240
  • 23
  • PDF