VFH*TDT (VFH* with Time Dependent Tree): A new laser rangefinder based obstacle avoidance method designed for environment with non-static obstacles

• The modification of VFH algorithms for non-static environment is proposed.
• A computation of a primary histogram is customized for use with a laser scanner.
• A time aspect is included into the look-ahead tree development.
• A computation of an enlargement angle in VFH+ is customized in our solution.
• A deflecting direction improves the performance of a robot.

New modifications of VFH+ and VFH* (Vector Field Histogram) methods are presented in the paper. The features of the histogramic algorithms are generally improved and also using a potential of advanced sensors such as laser scanners is enabled. The main focus of the work is an introduction of modifications that provides collision-free navigation in environments with moving obstacles. For this purpose, a new approach in creating a look-ahead tree is proposed. All new modifications are analyzed and experimentally verified. The results obtained using conventional and modified methods have been compared. Experiments have demonstrated the validity and the technical feasibility of the proposed methods.