Channeling theory is reviewed and some improvements are presented. Sev
eral models for the calculation of critical approach distances, critic
al angles, and minimum energies for channeling are compared. While the
influence of the choice of the interatomic potential is small, existi
ng models of the critical approach distance yield rather different res
ults particularly in the case of planar channeling. An improved model
is proposed based on binary collision simulations. A low-energy limit
to ion channeling along a given axis or plane is defined by equating t
he critical approach distance with the channel radius. Minimum energie
s for channeling and critical angles as a function of energy are prese
nted for B, P, and As in Si along the major channels. In the case of B
in Si from these data channeling maps are constructed and compared wi
th channeling maps obtained from binary collision simulations. The pre
dicted minimum energies for channeling are shown to agree well with a
large number of experimental data obtained by SIMS, thermal wave, and
backscattering yield measurements. Finally, the relevance of the criti
cal angles and of calculated channeled fractions to ion implantation i
s discussed.