dmamylin / vector-field-histogram

A C implementation of the Vector Field Histogram algorithm for local path planning.

Vector Field Histogram

This is an implementation of the Vector Field Histogram algorithm, developed by J. Borenstein and Y. Koren in 1990.

I used this in a project for my real-time systems class at Embry-Riddle Aeronautical University.

Eventually, I'll add support to the VFH+ and VFH-star algorithms.

To do

• Complete the parameter list with descriptions.
• Include drawings showing the referentials used for the sensors and the robot.
• Introduce some examples and test data.
• UNIT TESTS. The cmockery library appears to be good.
• Create libvfh to make reusability easier.

How to install

Wait.

It should be as easy as:

git clone <url for this repo>
cd vector-field-histogram
make

How to use

Basically, this algorithm receives as inputs a lot of rangefinder sensor readings and generates control signals - the "best" direction and a damping factor for the max velocity.

The rangefinder readings are passed to the certainty grid as an array of rangefinder_data_t (a struct with fields distance and direction) via the function grid_update().

Also, there are a lot of necessary parameters:

• Certainty grid dimension (if it's even, it'll be incremented by 1)
• Certainty grid resolution [cm]
• Moving window dimension (same as certainty grid dimension)
• Histogram alpha (must be a divisor of 360) [degrees]
• Density_A (experimental)
• Density_B (experimental)
• Obstacle density threshold (experimental)
• Objective position X (per-project)
• Objective position Y (per-project)

License

Copyright (c) 2012 Carlos Agarie. See LICENSE for details.