In order to autonomously navigate in an unknown environment, a robotic vehicle must be able to sense obstacles, determine their velocities, and follow a clear path to a goal. However, the perceived location and motion of the obstacles will be uncertain due to the limited accuracy of the robot’s sensors. Thus, it is necessary to develop a system that can avoid moving obstacles using uncertain sensor data. The method proposed here is based on a certainty occupancy grid—which has been used to avoid stationary obstacles in an uncertain environment—in conjunction with the velocity obstacle concept—which allows a robot to avoid well-known moving obstacles. The combination of these two techniques leads to velocity occupancy space: a search space which allows the robot to avoid moving obstacles and navigate efficiently to a goal using uncertain sensor data.
- Dynamic Systems and Control Division
Velocity Occupancy Space: Robot Navigation and Moving Obstacle Avoidance With Sensor Uncertainty
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Bis, R, Peng, H, & Ulsoy, G. "Velocity Occupancy Space: Robot Navigation and Moving Obstacle Avoidance With Sensor Uncertainty." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 1. Hollywood, California, USA. October 12–14, 2009. pp. 363-370. ASME. https://doi.org/10.1115/DSCC2009-2570
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