hoppss / vfh3d

An implementation of the vfh3d local planning algorithm.

VFH3D+

An octomap based VFH+ algorithm in 3D for local planning of UAVs (or any robot in 3D).

Installation

• The build is only yet tested on ROS melodic but it should work on other distributions as well. Make a local cakin workspace:

mkdir -p ~/catkin_ws/src

• Build and source the workspace:

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

• Clone the repository to your workspace:

cd ~/catkin_ws/src
git clone https://github.com/saifullah3396/vfh3d.git

• Install dependencies for the package with your ROS distribution:

rosdep install --from-paths src --ignore-src --rosdistro <ros-distro> -y.

• Build the package:

cd ~/catkin_ws
catkin_make

• Run test launch file for demonstration:

roslaunch vfh3d vfh3d_planner_test.launch

Acknowledgements

• The implementation of the algorithm is based on the paper: http://anet.uantwerpen.be/docman/irua/0c700e/56e4e8c5.pdf
• The open-source work done at https://github.com/Yonder-Dynamics/vfh3d was a great help for understanding the algorithm.