未知环境下基于VFH＊的机器人避障

机器人避障问题一直是机器人应用中的热点和难点问题。为此采用了路径跟踪和VFH*相结合的方法实现机器人沿着预定路径前进中的避障问题。路径跟踪算法follow the carrot用来选取局部目标点。对于VFH*算法中存在的由于超声传感器的方向误差及对障碍物的扩展导致某些可行路径被忽略的情况进行了改进,在障碍物进行扩展时根据障碍物与机器人中心点的距离大小进行不同程度的扩展。另外,在障碍物比较稀的区域,VFH*算法对每个valley最多只选取三个候选方向,导致一些更好的方向丢失,根据valley的大小及机器人当前选定方向来增加一个新的候选方向。并用仿真验证了所做的改进是有效的。

Obstacle Avoidance for Robots Based on VFH* Method in Uncertain Environment

This paper presents an improved VFH* method for robot obstacle avoidance.Follow the Carrot Algorithm is used to offer the local goal points for VFH*.Because of the direction error of sonar sensor in some situations,VFH* method fails to find a way to the goal even the path actually exists.To solve this problem,a const parameter is invited in this paper.Each obstacle is enlarged in different size according the distance to the robot.Another shortcoming of the VFH* method is resulted from the lack of candidate ...