Title :
VFH+: reliable obstacle avoidance for fast mobile robots
Author :
Ulrich, Iwan ; Borenstein, Johann
Author_Institution :
Adv. Technol. Lab., Michigan Univ., Ann Arbor, MI, USA
Abstract :
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, called VFH+, offers several improvements that result in smoother robot trajectories and greater reliability. VFH+ reduces some of the parameter tuning of the original VFH method by explicitly compensating for the robot width. Also added in VFH+ is a better approximation of the mobile robot trajectory, which results in higher reliability
Keywords :
mobile robots; path planning; position control; real-time systems; robot dynamics; VFH+; mobile robots; obstacle avoidance; path planning; polar histogram; position control; real-time systems; steering; trajectory control; vector field histogram; Cost function; Equations; Histograms; Laboratories; Mobile robots; Robot kinematics; Testing;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677362
