Vector Field Histogram Method to Avoid Obstacle

Today, I Show a method to find a path by using Vector Field Histogram. Currently, My algorithm is perfectly finished because there are some problems. For example, this algorithm can find a path in special case and there is no auto stop function.

figure.1

First, Look at this figure.1. You can find red points that make a path by connecting each point.
Each point is found by using relation between vector field and obstacles. At each point, we can find free direction. Look at Next figure. we assume that robot can scan surroundings(0~2*pi, unit: radian). And then, we can get pixel information about obstacle.
Finally, if obstacle region that is taken by the information is subtracted from total region. we can get free region.

figure.2

In the free region, if a next position of robot to reach a goal position is well made logically,  robot will reach the goal position without doubt. ( I have not found this way yet). I only use relation between free region and vector made by goal and center of robot.