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Implementation of VFH in ROS

asked 2012-10-23 11:42:49 -0600

Mike Gao gravatar image

updated 2014-01-28 17:14:02 -0600

ngrennan gravatar image

Hello, I would like to know, is there the implementation of the Vector Field Histogram(VFH) method for 2D mobile robot navigation in ROS?

I know ROS has implemented the Dynamic Window Approach(DWA) in the "navigation" stack, but it seems that this is not very suitable for the holonomic robot. Although the "Player" has the implementation of VFH, it cannot be used directly in ROS, so is there the ROS version of it? Or is there the implementation of other state of the art for local motion plan especially for holonomic robot in ROS? I would appreciate for any clues or suggestions, thanks!

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answered 2012-10-24 01:43:36 -0600

KruseT gravatar image

Note that the DWA local planner is used on the PR2 (holonomic base), though it was written to drive mostly forward because of 3d sensor coverage in front of the robot (tilting laser). With suitable parameters / customisation the DWA approach works well for holonomic bases.

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answered 2012-10-23 16:07:02 -0600

cagatay gravatar image

Hello, There are several robots running ros I believe that if you search ros stacks and packages by several universities,companies etc.. you can find one or more robots using vfh as its local planner. There is robotino which is a holonomic robot has its own local planner you can check out its wiki here , then check out the source code it may be useful for you. Hope this answer helps you

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Asked: 2012-10-23 11:42:49 -0600

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Last updated: Oct 24 '12