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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages1037-1040
Number of pages4
ISBN (Electronic)9788993215069
DOIs
Publication statusPublished - 2014 Dec 16
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: 2014 Oct 222014 Oct 25

Publication series

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

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CountryKorea, Republic of
CityGyeonggi-do
Period14/10/2214/10/25

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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