Abstract
The article focuses on verifying the effects of the VFH + navigation method parameters, proving to be very effective for the robot's reactive navigation. This research is based on our long-standing knowledge of histogram methods used in robot navigation. The article focuses on verifying the influence of crucial parameters - thresholds in a binary histogram, the smax parameter defining wide and narrow valleys, constants setting the criterion function, and the impact of robot dynamics on navigation. Many experiments were performed in a ROS simulation environment, and the article lists those significant confirming certain assumptions in setting these parameters.
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