vector histogram star obstacle - sterg website
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Vector Histogram Star Obstacle Avoidance for Multicopters.
Ruan van Breda Supervisor: W.J. Smit
Solar Thermal Energy Research Group (STERG), University of Stellenbosch
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• Why is obstacle avoidance necessary?
• Different obstacle avoidance algorithms
• Why the VFH* was chosen.
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• VFF (Virtual Force Field) • VFH (Vector Field Histogram) • VFH+ (Vector Field Histogram Plus) • VFH* (Vector Field Histogram Star)
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• Attractive force to the target.
• Repulsive forces from obstacles.
• Resultant force leads robot to target.
• Wall Following Method to get out of local minimums.
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VFF VFH
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• Accounting for robot width.
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VFH VFH+
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• Look-ahead verification (A* search algorithm)
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ACKNOWLEDGEMENTS:
CONTACT DETAILS:
visit us: concentrating.sun.ac.za
Solar Thermal Energy Research Group (STERG) Stellenbosch University South Africa
R.J. van Breda
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