Adaptive VFH

Iñigo Odriozola; Elena Lazkano; Basi Sierra

doi:10.1117/12.913550

30 September 2011 Adaptive VFH

Iñigo Odriozola, Elena Lazkano, Basi Sierra

Proceedings Volume 8285, International Conference on Graphic and Image Processing (ICGIP 2011); 82852B (2011) https://doi.org/10.1117/12.913550
Event: 2011 International Conference on Graphic and Image Processing, 2011, Cairo, Egypt

Abstract

This paper investigates the improvement of the Vector Field Histogram (VFH) local planning algorithm for mobile robot systems. The Adaptive Vector Field Histogram (AVFH) algorithm has been developed to improve the effectiveness of the traditional VFH path planning algorithm overcoming the side effects of using static parameters. This new algorithm permits the adaptation of planning parameters for the different type of areas in an environment. Genetic Algorithms are used to fit the best VFH parameters to each type of sector and, afterwards, every section in the map is labelled with the sector-type which best represents it. The Player/Stage simulation platform has been chosen for making all sort of tests and to prove the new algorithm's adequateness. Even though there is still much work to be carried out, the developed algorithm showed good navigation properties and turned out to be softer and more effective than the traditional VFH algorithm.

Citation Download Citation

Iñigo Odriozola, Elena Lazkano, and Basi Sierra "Adaptive VFH", Proc. SPIE 8285, International Conference on Graphic and Image Processing (ICGIP 2011), 82852B (30 September 2011); https://doi.org/10.1117/12.913550

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