Realtime Map Constitution and Robot Obstacle Avoidance Based on VFH+ Method

Abstract

Abstract:

Abstract: In order to increase the accuracy of robot avoidance map and the efficiency of robot avoidance method, this paper improves the VFH+ method. First, we group the ultrasonic sensor to avoid interference between each other. Second, we use software to filter statistics returned from ultrasonic sensors to increase the accuracy of realtime map. Meanwhile, we improve the cost function to get more accurate identification of cost. Lastly, we design a mechanism that allows the robot to get out of the loop based on dynamic threshold. Simulation shows that the improvements are effective.

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Key words:

, Key words: , robot； obstacle avoidance； map constitution； software filter； ultrasonic sensor

CLC Number:

TP242.6

WANG Tao， LIU Jin， MA Yongqi. Realtime Map Constitution and Robot Obstacle Avoidance Based on VFH+ Method[J]. Computer and Modernization, 2014, 0(4): 97-101.

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