Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path

Whee Jae Yim; Jin Bae Park

doi:10.1109/ICCAS.2014.6987943

Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path

Whee Jae Yim, Jin Bae Park

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

In this paper, we focus on the analysis of the mobile robot navigation problems with the vector field histogram (VFH) under various driving and environmental conditions. The VFH is one of the popular autonomous navigation algorithms. It constructs a polar histogram on the histogram grid map to express obstacles. To analyze the VFH, a number of numerical simulations are carried out where the number of sectors, the robot speed and the width of the path are regulated. As a result, we obtain the minimum number of sectors depending on the regulated driving and environmental conditions for successful navigation in given environments.

Original language	English
Title of host publication	International Conference on Control, Automation and Systems
Publisher	IEEE Computer Society
Pages	1037-1040
Number of pages	4
ISBN (Electronic)	9788993215069
DOIs	https://doi.org/10.1109/ICCAS.2014.6987943
Publication status	Published - 2014 Dec 16
Event	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of Duration: 2014 Oct 22 → 2014 Oct 25

Publication series

Name	International Conference on Control, Automation and Systems
ISSN (Print)	1598-7833

Other

Other	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Country	Korea, Republic of
City	Gyeonggi-do
Period	14/10/22 → 14/10/25

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All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Cite this

Yim, W. J., & Park, J. B. (2014). Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path. In International Conference on Control, Automation and Systems (pp. 1037-1040). [6987943] (International Conference on Control, Automation and Systems). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987943

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Yim, WJ & Park, JB 2014, Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path. in International Conference on Control, Automation and Systems., 6987943, International Conference on Control, Automation and Systems, IEEE Computer Society, pp. 1037-1040, 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014, Gyeonggi-do, Korea, Republic of, 14/10/22. https://doi.org/10.1109/ICCAS.2014.6987943

Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path. / Yim, Whee Jae; Park, Jin Bae.

International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. p. 1037-1040 6987943 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - In this paper, we focus on the analysis of the mobile robot navigation problems with the vector field histogram (VFH) under various driving and environmental conditions. The VFH is one of the popular autonomous navigation algorithms. It constructs a polar histogram on the histogram grid map to express obstacles. To analyze the VFH, a number of numerical simulations are carried out where the number of sectors, the robot speed and the width of the path are regulated. As a result, we obtain the minimum number of sectors depending on the regulated driving and environmental conditions for successful navigation in given environments.

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Yim WJ, Park JB. Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path. In International Conference on Control, Automation and Systems. IEEE Computer Society. 2014. p. 1037-1040. 6987943. (International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2014.6987943

Access to Document

10.1109/ICCAS.2014.6987943