Simulation Research on Obstacle Avoidance Planning for Mobile Robot Based on Laser Radar

摘要

Through improving the traditional Vector Field Histogram( VFH) algorithm,a kind of outdoor obstacle avoidance planning algorithm for laser radar is proposed. Based on the laser radar and adaptive threshold,through the planning of the target course,the algorithm gets the real-time obstacle avoidance direction of the robot. When there are obstacles betw een the robot and the target point,the robot obtains the target heading w ith the maximum threshold. When betw een the robot and the target point w ithout obstacles,the minimum threshold is used for robots w hich do not collide w ith obstacles. Simulation result show s that,w hen the robot speed is below 0. 8 m / s,it can be safely and smoothly through the complex obstacle area,gets to the goal; Otherw ise,the robot gets to the goal w ith slight rub.