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.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4417-5
PROCEEDINGS PAPER
Velocity Occupancy Space for Differential Drive Vehicles
Rachael A. Bis,
Rachael A. Bis
University of Michigan, Ann Arbor, MI
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Huei Peng,
Huei Peng
University of Michigan, Ann Arbor, MI
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A. Galip Ulsoy
A. Galip Ulsoy
University of Michigan, Ann Arbor, MI
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Rachael A. Bis
University of Michigan, Ann Arbor, MI
Huei Peng
University of Michigan, Ann Arbor, MI
A. Galip Ulsoy
University of Michigan, Ann Arbor, MI
Paper No:
DSCC2010-4188, pp. 249-256; 8 pages
Published Online:
January 25, 2011
Citation
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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