Modifications of VFH Navigation Methods for Mobile Robots
Andrej Babinec, Martin Dekan, František Duchoň, Anton Vitko · Procedia Engineering · 2012
Abstract This paper describes some improvements of Vector Field Histogram method used as reactive navigation of a mobile robot. In our application a laser rangefinder as a primary sensor for scanning an environment is used. Therefore, improvements in computation of the histogram values are presented. Further a VFH*-based technique that enables robot to sense and avoid dynamic obstacles is proposed.