Research on VFH Obstacle Avoidance Approach Based on Gaussian Probability Distribution Field
Liao Xiao-xiang · Machine Design and Research · 2005
The paper presents a newly-enhanced VFH obstacle avoidance algorithm from its original and updated versions, called Probabilistic Vector Field Histogram (PVFH). This approach adopts Gaussian probability distribution field to improve information abstraction and utilization for the first layer, which provides reliable data source for the optimal selection in the following layers. With this approach, robots can reflect and react to obstacle environment more precisely and roundly.