The block uses the VFH+ algorithm to compute the obstacle-free direction. First, the algorithm
takes the ranges and angles from range sensor data and builds a polar histogram for
obstacle locations. Then, it uses the input histogram thresholds to calculate a
binary histogram that indicates occupied and free directions. Finally, the algorithm
computes a masked histogram, which is computed from the binary histogram based on
the minimum turning radius of the vehicle.

The algorithm selects multiple steering directions based on the open space and possible
driving directions. A cost function, with weights corresponding to the previous,
current, and target directions, calculates the cost of different possible
directions. The algorithm then returns an obstacle-free direction with minimal cost.
Using the obstacle-free direction, you can input commands to move your vehicle in
that direction.

To use this block for your own application and environment, you must tune the algorithm
parameters. Parameter values depend on the type of vehicle, the range sensor, and
the hardware you use. For more information on the VFH algorithm, see `controllerVFH`

.