The concept of velocity occupancy space was developed in order to facilitate a vehicle in avoiding moving and stationary obstacles and navigating efficiently to a goal using only uncertain sensor data. However, the original velocity occupancy space concept was designed for holonomic vehicles that are capable of instantaneous velocity changes — capabilities that are not possessed by most actual vehicles. This paper presents two methods by which velocity occupancy space can be adapted to work within the kinodynamic constraints of a differential drive vehicle, a common configuration for experimental robots, with bounded acceleration capabilities. These two different adaptations of the velocity occupancy space concept are proposed and evaluated in light of their respective suitability under different vehicle conditions.
- Dynamic Systems and Control Division
Velocity Occupancy Space for Differential Drive Vehicles
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Bis, RA, Peng, H, & Ulsoy, AG. "Velocity Occupancy Space for Differential Drive Vehicles." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 1. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 249-256. ASME. https://doi.org/10.1115/DSCC2010-4188
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