VFH+: Reliable obstacle avoidance for fast mobile robots

被引：0
|
作者：
Ulrich, I [1 ]
Borenstein, J [1 ]
机构：
[1] Univ Michigan, Adv Technol Labs, Ann Arbor, MI 48109 USA
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents further developments of the earlier Vector Field Histogram (VFH) method 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.
引用
收藏
页码：1572 / 1577
页数：2
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