VFH*: Local Obstacle Avoidance with Look-Ahead Verification

  title={VFH*: Local Obstacle Avoidance with Look-Ahead Verification},
  author={Iwan Ulrich and Johann Borenstein},
This paper presents an enhancement to the earlier developed Vector Field Histogram (VFH) method for mobile robot obstacle avoidance. The enhanced method, called VFH*, successfully deals with situations that are problematic for purely local obstacle avoidance algorithms. The VFH* method verifies that a particular candidate direction guides the robot around an obstacle. The verification is performed by using the A* search algorithm and appropriate cost and heuristic functions. 
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