A feature information based VPH for local path planning with obstacle avoidance of the mobile robot
Tae-Seok Oh, Yun-Su Shin, Sung-Yong Yun, Wangheon Lee, Il-Hwan Kim · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2007
This study shows how a mobile service robot can avoid obstacles, and presents a VPH method using feature information for Local Path Planning. It is not easy to make a mobile service robot automatically move towards the goal. Path Planning lays out the path through which a robot follows to reach the goal. It can be divided into two folds: Global Path Planning (GPP) and Local Path Planning (LPP). Local path planning sets a path in a changing environment with moving obstacles such as in a museum and exhibition hall so that the robot reaches the goal without any collision. This study evaluates the Fusion Map-VPH (FM-VPH) Local path planning method with improved VPH by making use of the combined data drawn up through the ultrasonic sensor and laser sensor and by means of feature information. The results of the simulations and experiments have verified the validity of the methods described.