www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/CreateAVectorFieldHistogramObjectExample.m
%% Create a Vector Field Histogram Object % This example shows how to create a Vector Field Histogram (VFH) object % and calculate a steering direction based on input laser scan data. %% % Create VFH object vfh = robotics.VectorFieldHistogram; %% % Input laser scan data and target direction. ranges = 10*ones(1,500); ranges(1,225:275) = 1.0; angles = linspace(-pi,pi,500); targetDir = 0; %% % Compute obstacle-free steering direction steeringDir = vfh(ranges,angles,targetDir) %% % Visualize the VectorFieldHistogram computation h = figure; set(h,'Position',[50 50 800 400]) show(vfh);