# vfhparms.cfg
#
# A config file to store VFH parameters in for easy adjusting.

# alpha is the width in degrees of one sector.
alpha 5

# threshold is a parameter that is used to determine if an obstacle
# is blocking our path.  If a smoothed polar obstacle density is
# less than this threshold, an obstacle is not in the way.
threshold 2400

# smax is maximum size of a valley that the robot will try to enter.
# The larger this value the farther the robot will try to stay from
# an obstacle. This is measured in alpha units, ie smax = 20 means
# 20 * alpha = 20 * 5 degrees = 100 degrees.
smax 28

# hm is a parameter that is chosen so as to reduce the velocity
# sufficiently when approaching an obstacle.
hm 3000

window_radius 12

# half the width of the smoothing window
l 7

# A constant describing the weighting of close obstacles as compared
# to more distant ones.
b 10