Design of Mobile Robot Motion Framework based on Modified Vector Field Histogram

摘要

This paper presents a design of the mobile robot motion framework using slightly modified Vector Field Histogram (VFH) algorithm. The VFH algorithm provides both local motion planning and obstacle avoidance based on on-board sensors measurements. This framework utilizes Robot Operating System (ROS) for the software implementation and simulation purposes. The effectiveness of the proposed framework was verified in both static and dynamic unknown environments. The obtained simulation results indicate a proficiency of the VFH algorithm in navigating the mobile robot from the start to the goal position avoiding collision with obstacles. Trajectories obtained using the designed framework are smooth and without oscillations even in the presence of moving obstacles.