The Vector Field Histogram (VFH) is a classical motion planning algorithm which is widely used to handle the trajectory planning problem of mobile robots. However, the traditional VFH algorithm is rarely applied to autonomous vehicles due to the vehicle's well-known non-holonomic constraints, especially in urban environments. To address this problem, we propose a constrained VFH algorithm which takes both kinematic and dynamic constraints of the vehicle into consideration. The goal is achieved via two contributions that concern both kinematic and dynamic constraints of the vehicle. First, we develop a new active region for VFH to guarantee that all states within the region are reachable for the vehicle. Second, we improve the cost function to guide the search to favor feasible motion direction for the vehicle. The proposed algorithm is extensively tested in various simulated urban environments, and experimental results validate its efficiency.
A constrained VFH algorithm for motion planning of autonomous vehicles
01.06.2015
1441081 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning
DOAJ | 2017
|Pseudospectral Motion Planning for Autonomous Vehicles
AIAA | 2009
|Dynamic motion planning of autonomous vehicles
Tema Archiv | 1991
|Pseudospectral Motion Planning for Autonomous Vehicles
Online Contents | 2009
|