Inert and mobile agents navigation interaction using reciprocal velocity obstacles for collisions avoidance

A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots

Received May 31, 2014 Revised Sep 21, 2014 Accepted Oct 15, 2014 In this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the well-known Particle Swarm Optimization (PSO) for navigation control of multiple mobile robots with kinematic constraints. The RVO is used for collision avoidance between the robots, while PSO is used to choose the best pat...

Goal velocity obstacles for spatial navigation of multiple virtual agents

We present the goal velocity obstacle for the spatial navigation of multiple virtual agents to planar goal regions in the two-dimensional workspace. Our approach uses velocity obstacles not only to compute collision-avoiding velocities with respect to other agents, but also to specify velocities that will direct an agent toward its spatial goal region. We demonstrate shorter path lengths and fe...

Reciprocal Collision Avoidance for Quadrotor Helicopters Using LQR-Obstacles

In this paper we present a formal approach to reciprocal collision avoidance for multiple mobile robots sharing a common 2-D or 3-D workspace whose dynamics are subject to linear differential constraints. Our approach defines a protocol for robots to select their control input independently (i.e. without coordination with other robots) while guaranteeing collision-free motion for all robots, as...

Recursive Probabilistic Velocity Obstacles for Reflective Navigation

Reciprocal Collision Avoidance and Multi-Agent Navigation for Video Games

Collision avoidance and multi-agent navigation is an important component of modern video games. Recent developments in commodity hardware, in particular the utilization of multi-core and many-core architectures in personal computers and consoles are allowing large numbers of virtual agents to be incorporated into game levels in increasing numbers. We present the hybrid reciprocal velocity obsta...