This project simulates a robot navigating towards a target while avoiding dynamic obstacles using the Pure Pursuit Method for path following and Vector Field Histogram (VFH) for obstacle avoidance.
This simulation demonstrates:
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Pure Pursuit Path Following
The robot calculates the angle toward the target and adjusts its orientation accordingly to follow the path. -
Vector Field Histogram (VFH) Obstacle Avoidance
The robot scans its environment to detect nearby obstacles, generating a histogram of distances within its field of view. When obstacles are detected within a certain threshold distance, the robot adjusts its orientation to avoid them. -
Dynamic Obstacles
Obstacles move randomly, adding complexity to the robot's navigation task.
- Dynamic Targeting: The robot continuously re-orients toward a target position.
- Obstacle Avoidance: Upon detecting obstacles, the robot selects a safe angle to prevent collisions.
- Real-time Plotting: The simulation visually represents the robot, target, obstacles, and sensor beams.
- Polar Histogram Display: An inset plot shows the polar histogram of obstacle distances.