- 期刊
- OpenAccess
Evaluation of Velocity Field Histogram on Obstacle Avoidance
摘要
In order to avoid obstacles, the autonomous obstacle algorithm for unmanned aerial vehicles (UAVs) is discussed on the velocity field histogram (VFH). Some examples of VFH are VFH+, VFH* and 3D VFH algorithms. Each method is an improvement from the previously published VFH. The method is improved based on the time to complete the simulation environment and how effectively the vehicle avoids obstacles. However, in the VFH algorithm, there is less research on UAVs, and many researchers have done it on mobile robots. Path following and obstacle avoidance are essential features in UAV applications. This paper aims to evaluate an algorithm that is fully autonomous and capable of real-time UAV obstacle avoidance that can safely reach the target point from the starting point in an unknown flight environment. The algorithm is evaluated based on an improvement from the original VFH algorithm. In this paper, an evaluation of VFH on obstacle avoidance of quadrotors is done with an absolute error of more than 10% but still acceptable. This evaluation aims to have a safe flight path for UAVs without encountering obstacles. Based on the evaluation of VFH simulation on UAV obstacle avoidance, it is found that the algorithm is not fully effective in avoiding, especially for more extended buildings, and it needs extra time to work on the scene with block-end obstacles.