Paper Title :Sensing of Local Minima and Circumnavigation of Obstacles using VFH+ Algorithm for Agricultural Robots

Author :Bijay Rai, Amrendra Mahtsa, Asim Datta, Dhruba Ningombam

Article Citation :Bijay Rai ,Amrendra Mahtsa ,Asim Datta ,Dhruba Ningombam , (2022 ) " Sensing of Local Minima and Circumnavigation of Obstacles using VFH+ Algorithm for Agricultural Robots " , International Journal of Electrical, Electronics and Data Communication (IJEEDC) , pp. 50-54, Volume-10,Issue-9

Abstract : Abstract - The use of autonomous mobile robots to apply fertilizer and pesticides will be essential for agricultural automation. This research work explores vector field histogram (VFH+)based strategies for avoiding obstacles. Local minima maybe produced by U-shaped traps while using the VFH algorithm,avoiding the local minima may prevent the robot from getting into a condition which is impossible to recover. Circumnavigation of the obstacle at proximity is also crucial for effective pesticide application and efficient travel. The simulation is carried out for a 2-wheel differential robot installedwith a 360-degree 2D-LIDAR(Light detecting and ranging) sensor used for feeding scannedproximity value to VFH+ algorithm. With acceptable results for optimum performance, the simulation was successfully executed in Matlab. Keywords - Autonomous Agriculture Robot, VFH, Pure Pursuit, Obstacle Avoidance

Type : Research paper

Published : Volume-10,Issue-9

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