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No. VFH is a method to identify the next heading direction, which, from the current information available seem to be the best choice. It is independent of how the current position is determined and how the information about the surroundings of the robot is required. As far as I know, both VFH and VFH+ are independent of distance travelled. The only depend on ...


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Ok, just to answer this and close the question. I asked the lab people to test my node with prediction only, and it turned out that it is ok.. So my conclusion is that for some reason, the simulation in my computer is giving me wrong velocities (I don't know why exactly). My solution to this, was to record a bag in the lab's computer, and use that to ...


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Your noise term for the KF needs to reflect how you expect the true propagation of the state will differ from your model of the propagation. For example, the acceleration uncertainty is 1 while your true uncertainty is drawn from a uniform distribution of [-10,10]. I altered your code so the KF is now using the IMU information within the propagation step. ...


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