Tag Archives: Robotics

The Vector Field Histogram algorithm

I’m taking a course on real-time systems at my college. In one of the projects, we have to build a system that uses “concurrent programming” design approaches, with various threads acting separately and communicating through queues.

For this, I remembered some papers I’ve read in Brazil about path planning algorithms and one of them – the Vector Field Histogram (VFH) – sounded sufficiently simple to be implemented in two weeks. Of course, I had to implement the whole system: communication with sensors, some kind of output (in my case, via UART), the interthread communication mechanism, etc.

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