Investigation of the Influence of the Parameters of the VFH + Method on the Navigation Efficiency of the Mobile Robot-Reference-Cited by-同舟云学术

Investigation of the Influence of the Parameters of the VFH + Method on the Navigation Efficiency of the Mobile Robot

Published:2021-05-31 Issue: Volume:16 Page:328-334
ISSN:2224-2856
Container-title:WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
language:en
Short-container-title:

Author:

Šutý Andrej¹,Duchoň František¹

Affiliation:

1. Institute of Robotics and Cybernetics Slovak University of Technology Ilkovičova 3, Bratislava, Slovak Republic

Abstract

The article focuses on verifying the effects of the VFH + navigation method parameters, proving to be very effective for the robot's reactive navigation. This research is based on our long-standing knowledge of histogram methods used in robot navigation. The article focuses on verifying the influence of crucial parameters - thresholds in a binary histogram, the smax parameter defining wide and narrow valleys, constants setting the criterion function, and the impact of robot dynamics on navigation. Many experiments were performed in a ROS simulation environment, and the article lists those significant confirming certain assumptions in setting these parameters.

Publisher

World Scientific and Engineering Academy and Society (WSEAS)

Subject

Artificial Intelligence,General Mathematics,Control and Systems Engineering

Reference17 articles.

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4. H. Choset et al., "Principles of Robot Motion (Theory, Algorithms, and Implementations)," Boston: MIT Press, 2005.

5. R. Simmons, "The Curvature-Velocity Method for Local Obstacle Avoidance," International Conference on Robotics and Automation, Pittsburgh, PA, 1996.

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