VFH+:可靠的避障快速移动机器人

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.677362

Iwan Ulrich, J. Borenstein

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引用次数: 751

摘要

本文对Borenstein-Koren(1991)开发的用于实时移动机器人避障的矢量场直方图(VFH)方法进行了进一步改进。这种增强的方法被称为VFH+，它提供了几项改进，使机器人的轨迹更平滑，可靠性更高。VFH+通过显式补偿机器人宽度，减少了原VFH方法的一些参数调整。VFH+还增加了对移动机器人轨迹的更好逼近，从而提高了可靠性。

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VFH+: reliable obstacle avoidance for fast mobile robots

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.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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