Investigation of the Influence of the Parameters of the VFH + Method on the Navigation Efficiency of the Mobile Robot

WSEAS Transactions on Systems and Control

Print ISSN: 1991-8763
E-ISSN: 2224-2856

Volume 16, 2021

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.

Volume 16, 2021

Investigation of the Influence of the Parameters of the VFH + Method on the Navigation Efficiency of the Mobile Robot

AUTHORS: Andrej Šutý, František Duchoň

DOI: 10.37394/23203.2021.16.28
PDF XML
Certification

ABSTRACT: The article focuses on verifying the effects of the VFH + navigation method parameters, proving to be very effective for the robot's reactive navigation. This research is based on our long-standing knowledge of histogram methods used in robot navigation. The article focuses on verifying the influence of crucial parameters - thresholds in a binary histogram, the smax parameter defining wide and narrow valleys, constants setting the criterion function, and the impact of robot dynamics on navigation. Many experiments were performed in a ROS simulation environment, and the article lists those significant confirming certain assumptions in setting these parameters.

KEYWORDS: VFH+, parameters, mobile robot, ROS

WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 16, 2021, Art. #28, pp. 328-334

Copyright Β© 2021 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

Quick Links

Login

Other Articles by Author(s)

Author(s) and WSEAS

WSEAS Transactions on Systems and Control

Bulletin Board