Good day

I am currently implementing the VFH algorithm.

Is it possible to configure the algorithm such that a reactionary motion is generated at the presence of an obstacle?

I have been able to generate the obstacle map, primary polar histogram and the binary polar histogram.

How does one prioritize a sector to pass through?

I have seen an implementation in labview where in it is possible to implement a simple vector field histogram path planning without any goal points here


I don't know about VFH, but VFH+ has the ability to just "drive around" without a goal. A very clear explanation of VFH+ can be found here. On page 5 they start choosing what direction to move in. I don't know how much of your code you'll be able to reuse, but I hope this helps...


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