J. Borenstein
- Publications
- Influence
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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… Expand
Proceedings., IEEE International Conference on…
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… Expand
Odometry is the most widely used method for determining the momentary position of a mobile robot. This paper introduces practical methods for measuring and reducing odometry errors that are caused by… Expand
Proceedings. IEEE International Conference on…
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. The enhanced method,… Expand
Proceedings. IEEE International Conference on…
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). The authors previously… Expand
Exact knowledge of the position of a vehicle is a fundamental problem in mobile robot applications. In search for a solution, researchers and engineers have developed a variety of systems, sensors,… Expand
Proceedings ICRA. Millennium Conference. IEEE…
This paper presents an enhancement to the earlier developed vector field histogram (VFH) method for mobile robot obstacle avoidance. The enhanced method, called VFH/sup */ successfully deals with… Expand
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… Expand
Histogramic in-motion mapping (HIMM) is introduced as a new method for real-time map building with a mobile robot motion. HIMM represents data in a two-dimensional array, called a histogram grid,… Expand