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:
- Axis orientation for the rover, certainty grid and sensor measurement directions?
- 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
Any help would be appreciated. Thanks in advance.