VPH+: An Enhanced Vector Polar Histogram Method for Mobile Robot Obstacle Avoidance

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Abstract
VPH+, an enhanced vector polar histogram method (VPH), is developed for mobile robot equipped with laser radar to avoid obstacles more efficiently in complicated environment. The isolated obstacle points detected by laser radar are grouped into different obstacle blocks, so the robot can predict some obstacles outside its safe distance and avoid them in advance. Meanwhile, the speed of the robot and the heading deviation (between robot heading and robot-goal direction) are combined into the cost function which aims to find out the desired direction for the robot to reach the goal in minimum time. The efficiency and capability of the VPH+ method were testified with some contrast methods in real experiments as well as simulation tests, and the results showed that our method could allow the robot to move more smoothly and time efficiently.