vector-field-histogram

Reactive obstacle avoidance for a PX4 multirotor using the classic Vector Field Histogram (Borenstein & Koren, 1991). The drone builds a polar histogram of obstacle density around itself every control tick, picks the most open direction that still heads toward the goal, and flies it.

My Scilab Codes during EE324 (Control Systems Lab) Autumn 2021-22 and EE615 (Control and Computing Lab) Spring 2022-23