Integrated local path planning method

HwangRyol Ryu; KiSung You; ChinTae Choi

doi:10.1117/12.784189

7 January 2008 Integrated local path planning method

HwangRyol Ryu, KiSung You, ChinTae Choi

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.

Citation Download Citation

HwangRyol Ryu, KiSung You, and ChinTae Choi "Integrated local path planning method", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67940G (7 January 2008); https://doi.org/10.1117/12.784189

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