Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

<table>The threshold of VFH in Case <a href="https://static.hindawi.com/articles/mpe/volume-2013/841376/figures/#casee1">1</a>.</table>

Mathematical Problems in Engineering

Figure 7: Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment 