TY - GEN
T1 - Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path
AU - Yim, Whee Jae
AU - Park, Jin Bae
N1 - Publisher Copyright:
© 2014 Institute of Control, Robotics and Systems (ICROS).
Copyright:
Copyright 2015 Elsevier B.V., All rights reserved.
PY - 2014/12/16
Y1 - 2014/12/16
N2 - 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.
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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U2 - 10.1109/ICCAS.2014.6987943
DO - 10.1109/ICCAS.2014.6987943
M3 - Conference contribution
AN - SCOPUS:84920143967
T3 - International Conference on Control, Automation and Systems
SP - 1037
EP - 1040
BT - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
T2 - 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Y2 - 22 October 2014 through 25 October 2014
ER -