Improved Auto-regulation VFH Algorithm for Obstacle Avoidance of Unmanned Vehicles
Xingxue Dong, Mushu Wang, Chao Kang, Yungang Zhang, Weigang Pan, Shenqi Gao · 2021 China Automation Congress (CAC) · 2021
Aiming at the problem of autonomous vehicle obstacle avoidance, the self-regulating VFH (vector field histogram) algorithm based an improved strategy is proposed for the obstacle avoidance problem o unmanned vehicle. On the one hand, this algorithm considers the dynamical constraints and mechanical characteristics of the unmanned vehicle, delimits the active area under the constrain of its the minimum turning radius, and selects candidate directions based on the vehicle width constraint to ensure that the vehicle can safely and smoothly bypass obstacles. On the one hand, this algorithm further improves the smoothness of unmanned vehicle movement by improving a cost function. Simulation results demonstrate effectiveness of the proposed improved strategy.