An Obstacle Avoidance Algorithm in Local Dynamic Environments
Su Zhang · Computing Technology and Automation · 2003
This paper presents an enhancement based on the earlier Vector Field Histogram algorithm,which is called VFH# algorithmIt improved the first layer of VFH algorithm in particularThe local environment is predicted,and static and active cells are determined over again in the first layer of VFH algorithmThis provides more precise parameters to the optimal selection in following layersBy using this way,robots can select a more appropriate steeling angle in local dynamic envronments