移动机器人导航中模糊行为算法与矢量极坐标直方图算法的比较

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382894

Dongqing Shi, D. Dunlap, E. Collins

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引用次数: 8

摘要

自主地面车辆(agv)在不确定环境中的导航问题受到了广泛的关注。然而，文献中很少对agv的导航范例进行比较，特别是对使用测距仪的算法。模糊行为方法和矢量场直方图(VFH)方法是众所周知的可以使用测距仪实现的方法。本文将重点比较它们的结构、编程和算法调优的便利性以及性能。这两种方法都在先锋2机器人上实现，配备了SICK激光测距仪。

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A Comparison Between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation

The navigation of autonomous ground vehicles (AGVs) through uncertain environments has received substantial research attention. However, the literature contains very few comparisons of the navigation paradigms for AGVs, especially for algorithms using range finders. The fuzzy behavioral approach and vector field histogram (VFH) approach are well known methods that can be implemented using range finders. This paper will focus on comparing their structure, ease of programming and algorithm tuning, and performance. Both approaches are implemented on a Pioneer 2 robot, equipped with a SICK laser range finder.

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2007 International Symposium on Computational Intelligence in Robotics and Automation

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