Mr. Iñigo Odriozola Profile

Iñigo Odriozola

at Univ del País Vasco

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Proceedings Article | 1 October 2011 Paper

Adaptive VFH

Iñigo Odriozola, Elena Lazkano, Basi Sierra

Proceedings Volume 8285, 82852B (2011) https://doi.org/10.1117/12.913550

KEYWORDS: Robots, Genetic algorithms, Algorithm development, Evolutionary algorithms, Mobile robots, Robotics, Detection and tracking algorithms, Computer simulations, Genetics, Robotic systems

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This paper investigates the improvement of the Vector Field Histogram (VFH) local planning algorithm for mobile robot systems. The Adaptive Vector Field Histogram (AVFH) algorithm has been developed to improve the effectiveness of the traditional VFH path planning algorithm overcoming the side effects of using static parameters. This new algorithm permits the adaptation of planning parameters for the different type of areas in an environment. Genetic Algorithms are used to fit the best VFH parameters to each type of sector and, afterwards, every section in the map is labelled with the sector-type which best represents it. The Player/Stage simulation platform has been chosen for making all sort of tests and to prove the new algorithm's adequateness. Even though there is still much work to be carried out, the developed algorithm showed good navigation properties and turned out to be softer and more effective than the traditional VFH algorithm.

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