FVFH: An Improved Navigation Algorithm for UGVs in the Complex Disaster Environment
Nengwei Xu, Kun Yang, Chen Chen · 2023
The problem of navigation by unmanned ground vehicles (UGVs) in disaster areas is widely investigated. An environmental simulation model of disaster areas is established in order to solve this problem. The Focus Vector Field Histogram (FVFH) navigation algorithm for UGVs is designed: 1) A screening mechanism for the moving direction of the UGV is proposed; 2) The dynamic constraints of realistic UGVs are considered. The performance of the algorithm is tested on the Gym and CoppeliaSim platforms. The experimental results show that the FVFH algorithm can effectively shorten the planning time and navigation paths, and overcome special terrain obstacles with a high navigation success rate. Thus, the FVFH algorithm is helpful for navigation in complex disaster environment.