VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots

This paper presents further developments of the earlier Vector Field Histogram (VFH) method for realtime mobile robot obstacle avoidance. The enhanced method, called VFH+, offers several improvements that result in smoother robot trajectories and greater reliability. VFH+ reduces some of the parameter tuning of the original VFH method by explicitly compensating for the robot width. Also added in VFH+ is a better approximation of the mobile robot trajectory, which results in higher reliability.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Iwan Ulrich, Johann Borenstein
• Keywords: ICRA 1998, Mobile Robot, Mobile Robot Obstacle, Robotics, Smoother Robot Trajectories