Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path

Author

Whee Jae Yim ; Jin Bae Park

Author_Institution

Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul, South Korea

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

1037

Lastpage

1040

Abstract

In this paper, we focus on the analysis of the mobile robot navigation problems with the vector field histogram (VFH) under various driving and environmental conditions. The VFH is one of the popular autonomous navigation algorithms. It constructs a polar histogram on the histogram grid map to express obstacles. To analyze the VFH, a number of numerical simulations are carried out where the number of sectors, the robot speed and the width of the path are regulated. As a result, we obtain the minimum number of sectors depending on the regulated driving and environmental conditions for successful navigation in given environments.

Keywords

collision avoidance; mobile robots; navigation; velocity control; VFH; autonomous navigation algorithms; environmental conditions; histogram grid map; mobile robot navigation analysis; numerical simulations; path width regulation; polar histogram; regulated driving; robot speed; vector field histogram; Navigation; Robots; Vectors; Autonomous navigation; Mobile robot; Obstacle avoidance; vector field histogram;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2014 14th International Conference on

Conference_Location

Seoul

ISSN

2093-7121

Print_ISBN

978-8-9932-1506-9

Type

conf

DOI

10.1109/ICCAS.2014.6987943

Filename

6987943