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This paper presents an enhancement to the earlier developed vector field histogram (VFH) method for mobile robot obstacle avoidance. The enhanced method, called VFH/sup */ successfully deals with situations that are problematic for purely local obstacle avoidance algorithms. The VFH/sup */ method verifies that a particular candidate direction guides the robot around an obstacle. The verification is performed by using the A/sup */ search algorithm and appropriate cost and heuristic functions.
Ulrich et al. (Thu,) studied this question.