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Velocity Obstacle Approaches for Multi-Agent Collision Avoidance [PDF]

Unmanned Systems, 2019
This paper presents a critical analysis of some of the most promising approaches to geometric collision avoidance in multi-agent systems, namely, the velocity obstacle (VO), reciprocal velocity obstacle (RVO), hybrid-reciprocal velocity obstacle (HRVO) and optimal reciprocal collision avoidance (ORCA) approaches.
Lyudmila Mihaylova, Zhao Shiyu
exaly   +3 more sources

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Trajectory Regeneration Considering Velocity of Dynamic Obstacles Using the Nonlinear Velocity Obstacles

Transactions of the Korean Society of Mechanical Engineers A, 2014
를 계산할 수 있기 때문에 유용한 제어 기법이다. 서비스 로봇이 충돌안전성을 확보한 상태에서 고속 주행 임무를 수행하기 위해서는 동적 장애물의 속도를 고려한 궤적 계획이 필요하다. 정적 장애물만을 고려한 상태에서 궤적을 계획하는 경우 장애물과의 Key Words: Mobile Robot(이동로봇), Navigation(주행), Obstacle Avoidance(장애물회피), Trajectory Regeneration(궤적 재생성) 초록: 서비스 로봇이 충돌안전성을 확보한 상태에서 고속 주행 임무를 수행하기 위해서는 동적 장애물의 속도를 고려한 궤적 계획이 필요하다.
Chang-Bae Moon, Woojin Chung
openaire   +1 more source

Development of an optimal velocity selection method with velocity obstacle

Journal of Mechanical Science and Technology, 2015
The Velocity obstacle (VO) method is one of the most well-known methods for local path planning, allowing consideration of dynamic obstacles and unexpected obstacles. Typical VO methods separate a velocity map into a collision area and a collision-free area.
Mingeuk Kim, JunHo Oh
openaire   +1 more source

Prioritized group navigation with Formation Velocity Obstacles

2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
We introduce the problem of navigating a group of robots having prioritized formations amidst static and dynamic obstacles. Our formulation allows users to define a number of template formations, each with a specified priority value. At each planning cycle, we compute a new formation which accounts for both these priority values and the safe progress ...
Ioannis Karamouzas, Stephen J. Guy
openaire   +2 more sources

Reciprocal collision avoidance with acceleration-velocity obstacles

2011 IEEE International Conference on Robotics and Automation, 2011
We present an approach for collision avoidance for mobile robots that takes into account acceleration constraints. We discuss both the case of navigating a single robot among moving obstacles, and the case of multiple robots reciprocally avoiding collisions with each other while navigating a common workspace.
Jur P. van den Berg, Jamie Snape, Stephen J. Guy, Dinesh Manocha   +3 more
openaire   +1 more source

Dynamic Obstacle Avoidance of Mobile Robot Based on Adaptive Velocity Obstacle

2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC), 2021
The Velocity Obstacle (VO) provides a good solution for mobile robot collision avoidance problem. VO divides the velocity region into collision zone and non-collision zone. The robot can avoid collisions by selecting the velocity in the non-collision zone.
Yunzhi Huang
exaly   +2 more sources

Velocity obstacles for Dubins-like mobile robots

2017 25th Mediterranean Conference on Control and Automation (MED), 2017
The paper deals with the motion planning problem for Dubins-like mobile robots in dynamic environment. Velocity obstacles (VO) method and its non-linear version (NLVO) can be applied for planning a collision-free trajectory for a robot moving among static and dynamic obstacles, whose positions and velocity vectors are supposed to be known.
Emese Gincsainé Szádeczky-Kardoss, Bálint Kiss   +1 more
openaire   +1 more source

Avoiding moving obstacles: the forbidden velocity map

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Robotic obstacle avoidance in cluttered and dense environments is an important issue in robotic navigation. Over the past few years a number of techniques has been proposed to deal with safe navigation among obstacles in unknown scenarios. Unfortunately many of these methods do not consider obstacle velocities, which can rise some serious questions ...
Bruno D. Damas, José Santos-Victor
openaire   +1 more source

Improving velocity obstacle approach for obstacle avoidance in indoor environments

2014 UKACC International Conference on Control (CONTROL), 2014
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A Alsaab, R Bicker
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The relationship between obstacle height and center of pressure velocity during obstacle crossing

Gait & Posture, 2008
This study was performed to investigate the effect of obstacle height on the COP velocity when negotiating obstacles. Seven healthy female subjects were instructed to perform unobstructed level walking and to step over obstacles corresponding to 5%, 10%, and 15% of their height. The Parotec system was used to collect plantar foot pressure data.
Yun, Wang, Kazuhiko, Watanabe
openaire   +2 more sources