Velocity occupancy space: autonomous navigation in an uncertain, dynamic environment
Rachael A. Bis, Huei Peng, A. Galip Ulsoy · International Journal of Vehicle Autonomous Systems · 2012
In order to autonomously navigate in an unknown environment, a robotic vehicle must be able to sense obstacles, determine their velocities, and select a collision-free path that will lead quickly 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 an occupancy grid -which has been used to avoid stationary obstacles in an uncertain environment -in conjunction with velocity obstacles -which allow a robot to avoid well-known moving obstacles.The combination of these techniques leads to Velocity Occupancy Space (VOS): a search space which allows the robot to avoid moving obstacles and navigate efficiently to a goal using uncertain sensor data.The proposed method is validated by numerous simulation trials. R. Bis et al.