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Vector Histogram Star Obstacle Avoidance for Multicopters.

Ruan van Breda Supervisor: W.J. Smit

Solar Thermal Energy Research Group (STERG), University of Stellenbosch

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• Why is obstacle avoidance necessary?

• Different obstacle avoidance algorithms

• Why the VFH* was chosen.

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• VFF (Virtual Force Field) • VFH (Vector Field Histogram) • VFH+ (Vector Field Histogram Plus) • VFH* (Vector Field Histogram Star)

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• Attractive force to the target.

• Repulsive forces from obstacles.

• Resultant force leads robot to target.

• Wall Following Method to get out of local minimums.

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VFF VFH

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• Accounting for robot width.

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VFH VFH+

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• Look-ahead verification (A* search algorithm)

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ACKNOWLEDGEMENTS:

CONTACT DETAILS:

visit us: concentrating.sun.ac.za

Solar Thermal Energy Research Group (STERG) Stellenbosch University South Africa

R.J. van Breda

16546660@sun.ac.za

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