A Path Planning Model for an Autonomous Vehicle in an Unstructured Obstacle Domain

V.O.S. Olunloyo, M.K.O. Ayomoh, and O. Ibidapo-Obe (Nigeria)


c obstacle, Concave shaped obstacle, Virtual goal, Completely unknown environment


In this paper, the application domain of an improved Virtual Force Field (VFF) Technique christened Hybrid Virtual Force Field (HVFF) concept which was developed by Olunloyo and Ayomoh to solve the robot navigation problem for either a completely or partially known static environment of obstacles is extended. The current investigation is focused at addressing the general problem of dynamic obstacles in a completely unknown environment with special attention given to the class of concave shaped obstacles and lengthy obstacles for which the VFF technique is known to be prone to local minima traps.

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