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Abstract This paper highlights some limitations of the VFH+ algorithm on the domain of local obstacle avoidance. An enhanced algorithm dubbed VFH+D is proposed, which considers a different way of… Click to show full abstract
Abstract This paper highlights some limitations of the VFH+ algorithm on the domain of local obstacle avoidance. An enhanced algorithm dubbed VFH+D is proposed, which considers a different way of calculating the obstacle vector magnitude and a decay algorithm for dynamic obstacle avoidance. Experiments were conducted to compare both algorithms on two different mecanum wheeled robots, VFH+D achieved higher average speeds and lower distance traveled to reach the goal.
Keywords:
algorithm dynamic;
vfh algorithm;
obstacle;
vfh;
obstacle avoidance
Journal Title: IFAC-PapersOnLine
Year Published: 2020
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Journal Title: IFAC-PapersOnLine
Year Published: 2020
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!