주행 안정성을 위해 향상된 비용 함수 기반의 전 방향 벡터 극 히스토그램 기법

초록

In this study, we propose an improved cost function based omni-directional vector polar histogram method for safe navigation(EVPH). In an actual environment, the navigation safety of the conventional EVPH method may be compromised due to problems with the avoidance radius and deadlock problems. To enhance navigation safety, this study introduces an improved cost function that incorporates the midpoint information of the point cloud group and a movement direction weight function. The inclusion of midpoint information can improve the avoidance radius, while the movement direction weight function is capable of addressing deadlock issues. Experiments demonstrated that the navigation safety of the proposed method was superior to that of the conventional method in terms of the avoidance radius and the deadlock problem. Furthermore, the performance of the proposed method regarding its parameters, was thoroughly analyzed. Future research will explore the relationship between parameters and the selection of optimal parameters in various environments.

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