A Design of Three-Dimensional Spatial Path Planning Algorithm Based on Vector Field Histogram

In this paper, we present a novel three-dimensional spatial path planning algorithm based on the Vector Field Histogram* (VFH*) approach, specifically tailored for underwater robotics applications. Our method leverages the strengths of VFH* in obstacle avoidance while enhancing its capability to han...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 24; no. 17; p. 5647
Main Authors Zong, Chenning, Du, Qiaoling, Chen, Jianxu, Shan, Yiran, Wu, Yanpei, Sha, Zhida
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 30.08.2024
Subjects
Algorithms
Design
Efficiency
Optimization
path planning
robot travel
Robots
three-dimensional path
VFH
VFH
path planning
robot travel
three-dimensional path
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ISSN1424-8220
1424-8220
DOI10.3390/s24175647

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Summary:In this paper, we present a novel three-dimensional spatial path planning algorithm based on the Vector Field Histogram* (VFH*) approach, specifically tailored for underwater robotics applications. Our method leverages the strengths of VFH* in obstacle avoidance while enhancing its capability to handle complex three-dimensional environments. Through extensive simulations, we demonstrate the superior performance of our algorithm compared to traditional methods, such as RS-RRT algorithm. Our results show significant improvements in terms of computational efficiency and path optimality, making it a viable solution for real-time path planning in dynamic underwater environments.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s24175647