• DocumentCode
    2426824
  • Title

    IVFH∗: Real-time dynamic obstacle avoidance for mobile robots

  • Author

    Jie, Dong ; Xueming, Ma ; Kaixiang, Peng

  • Author_Institution
    Sch. of Inf. & Eng., Univ. of Sci. & Technol., Beijing, Beijing, China
  • fYear
    2010
  • fDate
    7-10 Dec. 2010
  • Firstpage
    844
  • Lastpage
    847
  • Abstract
    VFH* could not make optimal choice of direction in the narrow stability region. An improved method called IVFH* enlarges certain value (CV), raise more grids, add to relative threshold and introduce the concept of reactive deformation links to improve the original algorithm. IVFH* use Newtonian Physics and Hooker´s Law to update the position of the nodes and deform the links in response to the motion of the obstacles, for avoiding dynamic obstacles in dynamic environment.
  • Keywords
    collision avoidance; mobile robots; VFH; certain value; mobile robots; real-time dynamic obstacle avoidance; stability; vector field histogram; Automation; Dynamics; Heuristic algorithms; Histograms; Mobile robots; Real time systems; mobile robots; obstacles avoidance; vector field histogram (VFH);
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
  • Conference_Location
    Singapore
  • Print_ISBN
    978-1-4244-7814-9
  • Type

    conf

  • DOI
    10.1109/ICARCV.2010.5707283
  • Filename
    5707283
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2426824