3DVFH+: Real-Time Three-Dimensional Obstacle Avoidance Using an Octomap.

Abstract

Abstract. Recently, researchers have tried to solve the computational intensive three-dimensional obstacle avoidance by creating a 2D map from a 3D map or by creating a 2D map with multiple altitude levels. When a robot can move in a three-dimensional space, these techniques are no longer sufficient. This paper proposes a new algorithm for real-time three-dimensional obstacle avoidance. This algorithm is based on the 2D VFH+ obstacle avoidance algorithm and uses the octomap frame-work to represent the three-dimensional environment. The algorithm will generate a 2D Polar Histogram from this octomap which will be used to generate a robot motion. The results show that the robot is able to avoid 3D obstacles in real-time. The algorithm is able to calculate a new robot motion with an average time of 300 µs.