【摘要】 提出一种基于传统VFH(Vectorfieldhistogram)避障算法的改进形式,称为PVFH算法。这种方法融入高斯概率分布场,进一步完善VFH算法在第一层对环境信息的提取和利用,为后几层的最优选择提供充分可靠的数据来源。利用这种方法,机器人能够比较好的反映障碍物环境,并对其做出比较准确的反应。更多还原

【Abstract】 The paper presents a newly-enhanced VFH obstacle avoidance algorithm from its original and updated versions, called Probabilistic Vector Field Histogram (PVFH). This approach adopts Gaussian probability distribution field to improve information abstraction and utilization for the first layer, which provides reliable data source for the optimal selection in the following layers. With this approach, robots can reflect and react to obstacle environment more precisely and roundly.更多还原