The vector field histogram-fast obstacle avoidance for mobile robots

@article{Borenstein1991TheVF,
  title={The vector field histogram-fast obstacle avoidance for mobile robots},
  author={Johann Borenstein and Yoram Koren},
  journal={IEEE Trans. Robotics Autom.},
  year={1991},
  volume={7},
  pages={278-288}
}
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 obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuously with range data sampled by onboard range sensors. The VFH method subsequently uses… 

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