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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. This method, named the vector field histogram (VFH), permits the detection of unknown…
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VFH+: reliable obstacle avoidance for fast mobile robots

TLDR
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, offering several improvements that result in smoother robot trajectories and greater reliability.
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Measurement and correction of systematic odometry errors in mobile robots

TLDR
Experimental results are presented that show a consistent improvement of at least one order of magnitude in odometric accuracy (with respect to systematic errors) for a mobile robot calibrated with the method described.
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Potential field methods and their inherent limitations for mobile robot navigation

TLDR
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) and developed a new method for fast obstacle avoidance.
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Real-time obstacle avoidance for fast mobile robots in cluttered environments

The method described, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. A…
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Where am I?" sensors and methods for mobile robot positioning

VFH/sup */: local obstacle avoidance with look-ahead verification

TLDR
The enhanced method, called VFH/sup */ successfully deals with situations that are problematic for purely local obstacle avoidance algorithms and verifies that a particular candidate direction guides the robot around an obstacle.
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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" are…

The GuideCane-applying mobile robot technologies to assist the visually impaired

TLDR
The GuideCane is a device designed to help blind or visually impaired users navigate safely and quickly among obstacles and other hazards with a very noticeable force felt in the handle.
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Real-Time Obstacle Avoidance for Fast Mobile Robots

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