VPH+: An Enhanced Vector Polar Histogram Method for Mobile Robot Obstacle Avoidance

VPH+, an enhanced vector polar histogram method (VPH), is developed for mobile robot equipped with laser radar to avoid obstacles more efficiently in complicated environment. The isolated obstacle points detected by laser radar are grouped into different obstacle blocks, so the robot can predict some obstacles outside its safe distance and avoid them in advance. Meanwhile, the speed of the robot and the heading deviation (between robot heading and robot-goal direction) are combined into the cost function which aims to find out the desired direction for the robot to reach the goal in minimum time. The efficiency and capability of the VPH+ method were testified with some contrast methods in real experiments as well as simulation tests, and the results showed that our method could allow the robot to move more smoothly and time efficiently.

[1]  Hong Wang,et al.  VPH: a new laser radar based obstacle avoidance method for intelligent mobile robots , 2004, Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788).

[2]  Johann Borenstein,et al.  High-speed obstacle avoidance for mobile robots , 1988, Proceedings IEEE International Symposium on Intelligent Control 1988.

[3]  Pradeep K. Khosla,et al.  Real-time obstacle avoidance using harmonic potential functions , 1991, IEEE Trans. Robotics Autom..

[4]  S. Fazli,et al.  Wall following and obstacle avoidance results from a multi-DSP sonar ring on a mobile robot , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[5]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[6]  Yoram Koren,et al.  Real-time obstacle avoidance for fast mobile robots in cluttered environments , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[7]  Alberto Elfes.  A sonar-based mapping and navigation system , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[8]  Yoram Koren,et al.  Potential field methods and their inherent limitations for mobile robot navigation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[9]  Iwan Ulrich,et al.  VFH/sup */: local obstacle avoidance with look-ahead verification , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  Iwan Ulrich,et al.  VFH+: reliable obstacle avoidance for fast mobile robots , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).