I'm working with the VFH driver of Player. One question I want to ask is what is the influence of the obs_cutoff_0ms and obs_cutoff_1ms parameters? They aren't explained anywhere.
Looking in the code of the VFH driver I see that they are related to the two thresholds that also come back in the Paper about VFH+. A little explanation of what the parameters do (like with free_space_cutoff_0ms) would be very helpful.