Navigation control of mobile robot using distance profile histogram

A new local path planning algorithm using DPH(Distance profile Histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values aquired from multiple ultrasonic sensors and generates local points through which the mobile robot can avoid obstacles safely. The DPH(Distance Profile Histogram) represents geometrical arrangement of obstacles around the robot in a local polar coordinate system which is assumed to be attached to the robot. To control robot's navigation, a three-layered control structure is adopted. The validity of the proposed method is demonstrated through several experiments.