Share Email Print

Proceedings Paper

Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control
Author(s): Po-Jen Wang; Nicholas R. Keyawa; Craig Euler
Format Member Price Non-Member Price
PDF $17.00 $21.00

Paper Abstract

In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

Paper Details

Date Published: 23 January 2012
PDF: 21 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010Y (23 January 2012); doi: 10.1117/12.909069
Show Author Affiliations
Po-Jen Wang, California State Univ., Northridge (United States)
Nicholas R. Keyawa, California State Univ., Northridge (United States)
Craig Euler, California State Univ., Northridge (United States)

Published in SPIE Proceedings Vol. 8301:
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Juha Röning; David P. Casasent, Editor(s)

© SPIE. Terms of Use
Back to Top
Sign in to read the full article
Create a free SPIE account to get access to
premium articles and original research
Forgot your username?