# Community interest in a Vector Field Histogram global path planning algorithm

**URL:** <https://discourse.openrobotics.org/t/community-interest-in-a-vector-field-histogram-global-path-planning-algorithm/41286>\
**Category:** Navigation\
**Created:** [December 26, 2024, 10:51am UTC](https://discourse.openrobotics.org/t/community-interest-in-a-vector-field-histogram-global-path-planning-algorithm/41286 "2024-12-26T10:51:30Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![kos\_316](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/kos_316/32/22538_2.png) [@kos\_316](https://discourse.openrobotics.org/u/kos_316)\
**Post date:** [December 26, 2024, 10:51am UTC](https://discourse.openrobotics.org/t/community-interest-in-a-vector-field-histogram-global-path-planning-algorithm/41286/1 "2024-12-26T10:51:30Z")

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Hello everyone,

I am exploring the idea of developing a Nav2 path planning plugin based on the [Vector Field Histogram](https://www.cs.cmu.edu/~motionplanning/papers/sbp_papers/integrated1/borenstein_VFHisto.pdf) (VFH) algorithm. The VFH approach, traditionally used for local obstacle avoidance, has the potential to be adapted and extended for global path planning in robotic navigation systems.

Before I start working on this project, I would like to gauge the community’s interest in such a plugin. Specifically, I am interested in:

- Use cases where the VFH algorithm could provide a significant advantage over existing global path planners.
- Potential collaborators who might be interested in contributing to the development, testing, and documentation of this plugin.
- Feedback from those who have worked on similar algorithms or plugins, particularly in the Nav2 framework.

I believe this plugin could add value to scenarios requiring robust obstacle avoidance and efficient path planning in dynamic environments. If there’s enough interest, I would be happy to share progress updates, gather inputs, and eventually open-source the implementation for the benefit of the community.

Looking forward to your thoughts and feedback!

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**Author:** ![smac](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/smac/32/6763_2.png) [@smac](https://discourse.openrobotics.org/u/smac)\
**Post date:** [January 2, 2025, 6:44pm UTC](https://discourse.openrobotics.org/t/community-interest-in-a-vector-field-histogram-global-path-planning-algorithm/41286/2 "2025-01-02T18:44:36Z")

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I responded to you in the thread you started on the `ros-navigation` org 🙂

> **[Community interest in a Vector Field Histogram global path planning algorithm...](https://github.com/orgs/ros-navigation/discussions/4819#discussioncomment-11719651)**
>
> Hello everyone, I am exploring the idea of developing a Nav2 path planning plugin based on the Vector Field Histogram (VFH) algorithm. The VFH approach, traditionally used for local obstacle avoida...

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**Author:** ![R2D2](https://avatars.discourse-cdn.com/v4/letter/r/858c86/32.png) [@R2D2](https://discourse.openrobotics.org/u/R2D2)\
**Post date:** [April 1, 2025, 12:00pm UTC](https://discourse.openrobotics.org/t/community-interest-in-a-vector-field-histogram-global-path-planning-algorithm/41286/3 "2025-04-01T12:00:53Z")

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Hi,  
My team is using ROS2 on a Nvidia Orin Module - Livox mid 360 lidar + luxonis oak-D camera for perception/path planning and obstacle avoidance. Happy to tryout your code for obstacle avoidance.  
checkout [www.iplowrobot.com](http://www.iplowrobot.com) for application (robot snowblower).  
Best regards  
R2D2