학술논문
IVFH∗: Real-time dynamic obstacle avoidance for mobile robots
Document Type
Conference
Author
Source
2010 11th International Conference on Control Automation Robotics & Vision Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on. :844-847 Dec, 2010
Subject
Language
Abstract
VFH ∗ could not make optimal choice of direction in the narrow stability region. An improved method called IVFH ∗ enlarges certain value (CV), raise more grids, add to relative threshold and introduce the concept of reactive deformation links to improve the original algorithm. IVFH ∗ use Newtonian Physics and Hooker's Law to update the position of the nodes and deform the links in response to the motion of the obstacles, for avoiding dynamic obstacles in dynamic environment.