vfh_husky

Vector Field Histogram is a path-finding and obstacle avoidance algorithm used for Mobile robots' navigation in unknown terrain. This algorithm is implemented on ROS i.e., Robot Operating System using roscpp (CPP-like language specific to ROS). Husky is the ready-made vehicle present in the ROS and its simulation environment known as Gazebo. Husky also comes with LiDAR to take inputs from the surrounding environment. In the above implementation, a simulated environment is created using Gazebo, and a few obstacles are also placed. From the source position, a vehicle starts finding obstacle-free path to reach destination.