linear_angular_velocity_relation.jl

using Gadfly
using Cairo

max_wheel_vel = 1.6
wheel_base = 0.78

calc_step = 0.01

arcs = Array(Float64, 0, 2)
data = Array(Float64, 0, 2)

r = wheel_base / 2
max_ang_vel = max_wheel_vel / r

for ang = -max_ang_vel:calc_step:max_ang_vel
    for lin = 0:calc_step:(max_wheel_vel+calc_step)
        vr = lin - r * ang
        vl = lin + r * ang
        if (abs(vr) > max_wheel_vel || abs(vl) > max_wheel_vel)
            data = vcat(data, [lin ang])
            arcs = vcat(arcs, [lin*cos(ang) lin*sin(ang)])
            break
        end
    end
end

draw(SVGJS("dynamic-window.svg", 40cm, 16cm), plot(x=data[:,2], y=data[:,1], Geom.path()))
draw(SVGJS("possible-trajectories.svg", 30cm, 30cm), plot(x=arcs[:,2], y=arcs[:,1], Geom.path()))

dynamic-window.svg

possible-trajectories.svg