Vector Field Histogram* with look-ahead tree extension dependent on time variable environment

The article deals with a novel approach to reactive navigation. A proposed reactive navigation is based on the Vector Field Histogram (VFH) method, which is easily modifiable. The biggest advantage of the proposed method is that it allows the robot to avoid static as well as moving obstacles in an unknown environment in a more effective way and without the need of switching any algorithm or the robot’s behaviour. Moreover, the proposed extension allows the avoidance of several moving obstacles in real time. The article contains three proposed improvements of the original VFH* method: representation of moving objects, look-ahead tree improvements and approach to criterion function. The method is verified by several experiments in various scenarios, which include few static and moving obstacles.