Avoid obstacles using vector field histogram
Navigation Toolbox / Control Algorithms
The Vector Field Histogram (VFH) block enables your vehicle to avoid obstacles based on range sensor data. Given a range sensor reading in terms of ranges and angles, and a target direction to drive toward, the VFH controller computes an obstacle-free steering direction.
For more information on the algorithm details, see Vector Field Histogram under Algorithms.
The Ranges
and Angles
inputs are
limited to 4000 elements when generating code for models that use this
block.