Laser radar has the advantages of high scanning precision,so it is used to obtain the information about the environment around the robot.In order to solve the problems about trough width calculation and pure steering in the VFH algorithm,a method to calculate the trough width and check the traversability of the robot in this trough is proposed.Based on the acquiring goal orientation, local target points are added as the result of the VFH algorithm.In addition,a control strategy of smooth turning is designed,which makes the robot to approach the target position with smooth way in a complex environment.Finally,effectiveness of the method is verified by experiments.
