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A heuristic obstacle avoidance algorithm using vanishing point and obstacle angle

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Abstract

Although there exists a class of algorithms for coping with unknown obstacles in mobile robot navigation, most of them produce rather conservative paths because the varying density of obstacles is not directly considered in the real-time motion planning stage. In this paper, we develop a heuristic obstacle avoidance method in terms of the vanishing point and obstacle angle (VP–OA) to compromise through an adjustable weighting factor between the lane tracking and the obstacle avoidance performance depending on the frequency of emerging obstacles. The suggested algorithm has the advantage of generating smooth local paths close to a human’s car driving. Comparison simulations and experiments with other popular algorithms validate the effectiveness of the proposed scheme.

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Acknowledgments

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF-2012R1A1B3003886).

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The authors declare that they have no conflict of interest.

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Authors and Affiliations

  1. School of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang, 412-791, Korea

    Yongkuk Kim & SangJoo Kwon

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  1. Yongkuk Kim
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  2. SangJoo Kwon
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Correspondence to SangJoo Kwon.

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Kim, Y., Kwon, S. A heuristic obstacle avoidance algorithm using vanishing point and obstacle angle. Intel Serv Robotics 8, 175–183 (2015). https://doi.org/10.1007/s11370-015-0171-4

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  • DOI: https://doi.org/10.1007/s11370-015-0171-4

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