Authors: Rachael Bis; Huei Peng; A. Galip Ulsoy
Addresses: Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109-2125, USA ' Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109-2125, USA ' Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109-2125, USA
Abstract: The Velocity Occupancy Space (VOS) algorithm was developed to allow an Unmanned Ground Vehicle (UGV) to avoid moving and stationary obstacles and navigate efficiently to a goal using only uncertain sensor data. The original VOS concept was designed for an ideal, holonomic UGV that was capable of perfect, repeatable and instantaneous velocity changes. The method presented here adapts VOS through the use of Extended Velocity Obstacles (EVOs) so that VOS can operate on experimental UGVs with actuation error. For this research, the EVOs have been designed based on the characteristics of a SuperDroid ATR, but they can be easily calibrated for other velocity-controlled UGVs. The proposed method is validated through numerous simulations and experimental trials.
Keywords: actuation errors; autonomous navigation; velocity occupancy space; moving obstacles; obstacle avoidance; UGVs; unmanned ground vehicles; extended velocity obstacles; vehicle navigation; uncertain data; uncertainty; sensor data; simulation.
International Journal of Vehicle Autonomous Systems, 2014 Vol.12 No.2, pp.180 - 200
Received: 01 Apr 2013
Accepted: 12 Oct 2013
Published online: 26 Mar 2014 *