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Avoid obstacles using vector field histogram

**Library:**Robotics System Toolbox / Mobile Robot Algorithms

The Vector Field Histogram (VFH) block enables your robot to avoid obstacles based on range sensor data. Given a range sensor reading in terms of ranges and angles, and a target direction to drive toward, the VFH controller computes an obstacle-free steering direction.

For more information on the algorithm details, see Vector Field Histogram under Algorithms.

The

`Ranges`

and`Angles`

inputs are limited to 4000 elements when generating code for models that use this block.