IVFH∗: Real-time dynamic obstacle avoidance for mobile robots

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.