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Proceedings Paper

Navigating with VFH: a strategy to avoid traps
Author(s): Chaomin Luo; Mohan Krishnan; Mark Paulik; Utayba Mohammad; Qing Wang
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Paper Abstract

The IGVC Navigation Challenge course configuration has evolved in complexity to a point where use of a simple reactive local navigation algorithm presents problems in course completion. A commonly used local navigation algorithm, the Vector Field Histogram (VFH), is relatively fast and thus suitable when computational capabilities on a robot are limited. One of the attendant disadvantages of this algorithm is that a robot can get trapped when attempting to get past a concave obstacle structure. The Navigation Challenge course now has several such structures, including some that partially surround waypoints. Elaborate heuristics are needed to make VFH viable in such a situation and their tuning is arduous. An alternate approach that avoids the use of heuristics is to combine a dynamic path planning algorithm with VFH. In this work, the D*Lite path planning algorithm is used to provide VFH with intermediate goals, which the latter then uses as stepping stones to its final destination. Results from simulation studies as well as field deployment are used to illustrate the benefits of using the local navigator in conjunction with a path planner.

Paper Details

Date Published: 23 January 2012
PDF: 11 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 830112 (23 January 2012); doi: 10.1117/12.912170
Show Author Affiliations
Chaomin Luo, Univ. of Detroit Mercy (United States)
Mohan Krishnan, Univ. of Detroit Mercy (United States)
Mark Paulik, Univ. of Detroit Mercy (United States)
Utayba Mohammad, Univ. of Detroit Mercy (United States)
Qing Wang, Univ. of Detroit Mercy (United States)

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

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