Paper Info
Title
Study On The Local Path Planning For Intelligent Vehicles Based On An Improved Vfh Method
Abstract
A local path planning method has been proposed and implemented for intelligent vehicles, the vector field histogram sharp (VFH#). In this study, an intelligent vehicle was made to manoeuvre through obstacles by the VFH# method. This local path planning method is the result of an improvement on a method called vector field histogram (VFH). The VFH method is sensitive to the threshold value for determining candidate sectors. And it is difficult for an intelligent vehicle to travel through narrow corridors by the VFH method. The VFH# method enlarges obstacles to avoid collisions. And it designs a new means of acquiring the magnitude of obstacle vector to eliminate sensitivity. In each sector, it chooses the largest magnitude as the resistance value among obstacle vectors. The method is applied on an electric vehicle to verify the performance; and it achieves an excellent result.
Year
DOI
Venue
2018
10.1504/IJES.2018.095747
INTERNATIONAL JOURNAL OF EMBEDDED SYSTEMS
Keywords
Field
DocType
local path planning, vector field histogram sharp, VFH#, intelligent vehicle
Motion planning,Obstacle,Magnitude (mathematics),Vector Field Histogram,Computer science,Electric vehicle,Real-time computing
Journal
Volume
Issue
ISSN
10
6
1741-1068
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Yingwei Yan162.83
Yu Du26510.11
Wenan Zhou35019.20