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文件名称:Reciprocal Velocity Obstacles for Real-Time Multi-Agent Navigation
文件大小:1.1MB
文件格式:PDF
更新时间:2022-05-18 14:01:44
RVO简介
多智能体系统编队控制避障问题In this paper, we propose a new concept —
the “Reciprocal Velocity Obstacle”— for real-time multi-agent
navigation. We consider the case in which each agent navigates
independently without explicit communication with other
agents. Our formulation is an extension of the Velocity Obstacle
concept [3], which was introduced for navigation among (passively)
moving obstacles. Our approach takes into account the
reactive behavior of the other agents by implicitly assuming that
the other agents make a similar collision-avoidance reasoning.
We show that this method guarantees safe and oscillationfree
motions for each of the agents. We apply our concept
to navigation of hundreds of agents in densely populated
environments containing both static and moving obstacles, and
we show that real-time and scalable performance is achieved
in such challenging scenarios.