The vector field histogram - fast obstacle avoidance for mobile robots. Borenstein, J., Koren, Y., & others IEEE transactions on robotics and automation, 7(3):278–288, 1991.
bibtex   
@article{borenstein_vector_1991,
	title = {The vector field histogram - fast obstacle avoidance for mobile robots},
	volume = {7},
	number = {3},
	journal = {IEEE transactions on robotics and automation},
	author = {Borenstein, Johann and Koren, Yoram and {others}},
	year = {1991},
	pages = {278--288}
}

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