A Comparison Between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation

The navigation of autonomous ground vehicles (AGVs) through uncertain environments has received substantial research attention. However, the literature contains very few comparisons of the navigation paradigms for AGVs, especially for algorithms using range finders. The fuzzy behavioral approach and vector field histogram (VFH) approach are well known methods that can be implemented using range finders. This paper will focus on comparing their structure, ease of programming and algorithm tuning, and performance. Both approaches are implemented on a Pioneer 2 robot, equipped with a SICK laser range finder.