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 in VFH+ is a better approximation of the mobile robot trajectory, which results in higher reliability.
The successor to the VFH, known as VFH+ REF , improves stability in part by explicitly compensating for the robot width and movement model.
VFH+: reliable obstacle avoidance for fast mobile robots
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
Computer Science