VFH+D: An Improvement on the VFH+ Algorithm for Dynamic Obstacle Avoidance and Local Planning

Abstract

This paper highlights some limitations of the VFH+ algorithm on the domain of local obstacle avoidance. An enhanced algorithm dubbed VFH+D is proposed, which considers a different way of calculating the obstacle vector magnitude and a decay algorithm for dynamic obstacle avoidance. Experiments were conducted to compare both algorithms on two different mecanum wheeled robots, VFH+D achieved higher average speeds and lower distance traveled to reach the goal.