I would like someone to implement an obstacle avoidance and trajectory tracking for a differential mobile robot.
Method to be used should be Vector Field Histogram (VFH)
The VFH should be activated only when avoiding obstacle after that the robot should switch to trajectory tracking.
Refer the article titled ''Trajectory Tracking and VFH Obstacle Avoidance for Differential Drive Mobile Robot'' by Salah Eddine Ghamri.
I need exactly what has been published in that article.
Code in matlab please or c++