WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 16, 2021
Investigation of the Influence of the Parameters of the VFH + Method on the Navigation Efficiency of the Mobile Robot
Authors: ,
Abstract: The article focuses on verifying the effects of the VFH + navigation method parameters, proving to be very effective for the robot's reactive navigation. This research is based on our long-standing knowledge of histogram methods used in robot navigation. The article focuses on verifying the influence of crucial parameters - thresholds in a binary histogram, the smax parameter defining wide and narrow valleys, constants setting the criterion function, and the impact of robot dynamics on navigation. Many experiments were performed in a ROS simulation environment, and the article lists those significant confirming certain assumptions in setting these parameters.