Hi,

Thanks for the reply Julio. I'm using only one sensor at the same time, but using laser or sonar the response is the same.
I'm using the VFH driver that comes with Player, so I shouldn't be any wrong operation if It works fine to someone else.

I had to patch the Player source code to make it work with my robot, and maybe there is any problem with it, but I don't think so because everything else works fine...
I'l try to calculate the target direction by hand and I will try to search where the problem is....

Thanks,


2009/1/21 Julio Vega <jm.vegap@alumnos.urjc.es>
 Hi,

 it's not the usual behaviour of this algorithm. Usually there are
several candidate directions and the VFH algorithm selects the one that
most closely matches the direction to the target. So, you're doing some
wrong calculations... I advise you to use only one sensor, for example
laser. And you calculate your target direction according to that. You
make sure that the contents of each active cell in the histogram grid is
mapped into the corresponding sector of the polar histogram; you've to
have a window which moves with the robot.

 Good luck :)

--
Julio Vega | http://robotica-urjc.es/jmvega



Santiago Rodríguez escribió:
> Hello all,
>
> I'm experimenting a problem when I make my robot move through the VFH
> algorithm. When It finds an obstacle, It always turns to the left, no
> matter if the obstacle at its right or left side.It turns on itseft
> but always anti-clockwise, and that way it usually get stucked because
> it can find the way to avoid some obstacles.
> Is it the normal work way of the algoithm or is there a problem with it??
> I tried the algorithm with a SICK S300 laser and with a 24 sonar ring
> and the response is the same.
>
> Thank you,
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