Implementation of Vector Field Histogram based obstacle avoidance wheeled robot

This paper describes the navigation of mobile robots in a dynamic environment with obstacles, providing guaranteed reach to the target. Ultrasonic Sensor mounted on the Mobile Robot is used for obstacle detection. VFH (Vector Field Histogram method is used to avoid obstacles and make the navigation of the robot smoother. Spartan 3 FPGA is used for controlling the robot. The FPGA is used because it can operate with low power and it can provide parallelism operation, so the robot can do its work in a faster manner. Experimental results show the robot navigation and obstacle detection implemented in the FPGA processor.