Vector Field Histogram

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

I'm going to use this in a project for my real-time systems class at Embry-Riddle Aeronautical University, where we're using ARM microcontrollers. That explains why this is a C implementation (I also don't like C++).

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.

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.