IVFH∗: Real-time dynamic obstacle avoidance for mobile robots
Jie Dong, Ma Xueming, Peng Kai-xiang · 2010
VFH*could not make optimal choice of direction in the narrow stability region. An improved method called IVFH*enlarges certain value (CV), raise more grids, add to relative threshold and introduce the concept of reactive deformation links to improve the original algorithm. IVFH*use Newtonian Physics and Hooker's Law to update the position of the nodes and deform the links in response to the motion of the obstacles, for avoiding dynamic obstacles in dynamic environment.