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I have been struggling with trying to get the VFH+ implementation working correctly using Orca-Robotics implementation which seems to be the same implementation used in the ROS package and MATLAB and others. I would like to check on a couple of things:

  1. Axis orientation for the rover, certainty grid and sensor measurement directions?
  2. Can I just use a 180 deg sweep of the sonar sensor or do I really need 360 degs? If I just need 180 deg what do I do with initializaling the grid behind the

To start this is what I think the papers I have read are telling me - but I am usually incorrect: axis and sensor angle orientation

Any help would be appreciated. Thanks in advance.

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