Title :
VFH*: local obstacle avoidance with look-ahead verification
Author :
Ulrich, Iwan ; Borenstein, Johann
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA
Abstract :
This paper presents an enhancement to the earlier developed vector field histogram (VFH) method for mobile robot obstacle avoidance. The enhanced method, called VFH* successfully deals with situations that are problematic for purely local obstacle avoidance algorithms. The VFH* method verifies that a particular candidate direction guides the robot around an obstacle. The verification is performed by using the A* search algorithm and appropriate cost and heuristic functions
Keywords :
collision avoidance; mobile robots; navigation; optimisation; search problems; cost function; heuristic function; look-ahead verification; mobile robot; obstacle avoidance; search algorithm; vector field histogram; Costs; Histograms; Mechanical engineering; Mobile robots; Motion planning; Navigation; Path planning; Robot sensing systems; Sensor fusion; Space exploration;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846405
