7 January 2008 Integrated local path planning method
Author Affiliations +
Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67940G (2008) https://doi.org/10.1117/12.784189
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan
Abstract
We describe an integrated local path planning method whereby a particle filter is used for computation of the steering direction based on the Vector Field Histogram. In the original VFH, a typical polar histogram contains peaks (i.e., sectors) with a high polar obstacle density (POD) and valleys (i.e., sectors) that contain low polar obstacle density. In order to determine a desired path allowable for the width of the vehicle, the valley below some threshold is selected for the traversable local path. In the proposed approach, the particle filter is used to select the widest valley without the predefined threshold over the polar histogram and the measurement model of the particle filter is used for the uncertainty of each cell in the VFH as well. Experimental results from a mobile robot traversing the obstacle courses demonstrate the proposed approach successfully selecting and driving the most traversable path.
© (2008) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
HwangRyol Ryu, HwangRyol Ryu, KiSung You, KiSung You, ChinTae Choi, ChinTae Choi, } "Integrated local path planning method", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67940G (7 January 2008); doi: 10.1117/12.784189; https://doi.org/10.1117/12.784189
PROCEEDINGS
6 PAGES


SHARE
RELATED CONTENT


Back to Top