대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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- Pages.23-26
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- 2003
VFH(Vector Field Histogram)을 이용한 4족 로봇의 장애물 회피
Obstacle a voidance using VFH (Vector Field Histogram) in four legged robot
초록
The vector field histogram(VFH) uses a two-dimensional Cartesian histogram grid as a world model. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram grid is reduced to a one dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram contains a value representing the polar obstacle density in that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. We applied this algorithm to our four-legged robot.