Combing VFH with bezier for motion planning of an autonomous vehicle

2nd Annual International Conference on Information System and Artificial Intelligence

物理学;计算机科学

Ye, Feng^1 ; Yang, Jing^1 ; Ma, Chao^1 ; Rong, Haijun^2

School of Electronic Information Engineering, Xi'An Jiaotong University, Xi'an, China^1

School of Aerospace, Xi'An Jiaotong University, Xi'an, China^2

关键词: Autonomous Vehicles;    Collision-free;    Mobile robot obstacle avoidances;    Non holonomic constraint;    Optimal trajectories;    Reference lines;    Target location;    Vector field histograms;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/887/1/012008/pdf
DOI  :  10.1088/1742-6596/887/1/012008

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Vector Field Histogram (VFH) is a method for mobile robot obstacle avoidance. However, due to the nonholonomic constraints of the vehicle, the algorithm is seldom applied to autonomous vehicles. Especially when we expect the vehicle to reach target location in a certain direction, the algorithm is often unsatisfactory. Fortunately, the Bezier Curve is defined by the states of the starting point and the target point. We can use this feature to make the vehicle in the expected direction. Therefore, we propose an algorithm to combine the Bezier Curve with the VFH algorithm, to search for the collision-free states with the VFH search method, and to select the optimal trajectory point with the Bezier Curve as the reference line. This means that we will improve the cost function in the VFH algorithm by comparing the distance between candidate directions and reference line. Finally, select the closest direction to the reference line to be the optimal motion direction.