VFH*: Local Obstacle Avoidance with Look-Ahead Verification
نویسندگان
چکیده
This paper presents an enhancement to the earlier developed Vector Field Histogram (VFH) method for mobile robot obstacle avoidance. The enhanced method, called VFH*, successfully deals with situations that are problematic for purely local obstacle avoidance algorithms. The VFH* method verifies that a particular candidate direction guides the robot around an obstacle. The verification is performed by using the A* search algorithm and appropriate cost and heuristic functions.
منابع مشابه
VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots
This paper presents further developments of the earlier Vector Field Histogram (VFH) method for realtime 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 i...
متن کاملReal-time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environments
A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the Vector Field Histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. A VFH-controlled mobile robot maneuvers quickly and without stopping among densely cluttered obstacles. The VFH metho...
متن کاملReal-time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environments
A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the Vector Field Hisfog" (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. A VFH-controlled mobile robot maneuvers quickly and without stopping among densely cluttered obstacles. The VFH method ...
متن کاملThe vector field histogram-fast obstacle avoidance for mobile robots
A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuo...
متن کاملDouble-vfh: Reliable Obstacle Avoidance for Large, Non-point, Omni-directional Mobile Robots
This paper presents a method for reliable real-time obstacle avoidance for a tele-autonomous omnidirectional mobile robot, called “OmniMate.” The OmniMate is a large, rectangular-footprint platform with a flat loading deck measuring 184 ×92 cm (72×36”). Implemented with a shared control architecture, the OmniMate can operate in a so-called tele-autonomous mode that allows the operator to prescr...
متن کامل