Vector Field Histogram

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In robotics, Vector Field Histogram (VFH) is a real time motion planning algorithm proposed by Johann Borenstein and Yoram Koren in 1991.^[1] The VFH utilizes a statistical representation of the robot's environment through the so-called histogram grid, and therefore places great emphasis on dealing with uncertainty from sensor and modeling errors. Unlike other obstacle avoidance algorithms, VFH takes into account the dynamics and shape of the robot, and returns steering commands specific to the platform. While considered a local path planner, i.e., not designed for global path optimality, the VFH has been shown to produce near optimal paths.

The original VFH algorithm was based on previous work on Virtual Force Field, a local path-planning algorithm. VFH was updated in 1998 by Iwan Ulrich and Johann Borenstein, and renamed VFH+ (unofficially "Enhanced VFH").^[2] The approach was updated again in 2000 by Ulrich and Borenstein, and was renamed VFH*.^[3] VFH is currently one of the most popular local planners used in mobile robotics, competing with the later developed dynamic window approach. Many robotic development tools and simulation environments contain built-in support for the VFH, such as in the Player Project.^[4]