逆速度障害物による実時間ナビゲーション
IVO: Inverse Velocity Obstacles for Real Time Navigation
ロボットの姿勢や速度の推定を必要とせず、自己中心的な枠組みで速度障害物を再定式化し、動的環境での衝突回避を実時間で実現する手法を提案した。
著者: P. S. Naga Jyotish, Yash Goel, A. V. S. Sai Bhargav Kumar, K. Madhava Krishna
分類: cs.RO
原文アブストラクト
In this paper, we present "IVO: Inverse Velocity Obstacles" an ego-centric framework that improves the real time implementation. The proposed method stems from the concept of velocity obstacle and can be applied for both single agent and multi-agent system. It focuses on computing collision free maneuvers without any knowledge or assumption on the pose and the velocity of the robot. This is primarily achieved by reformulating the velocity obstacle to adapt to an ego-centric framework. This is a significant step towards improving real time implementations of collision avoidance in dynamic environments as there is no dependency on state estimation techniques to infer the robot pose and velocity. We evaluate IVO for both single agent and multi-agent in different scenarios and show it's efficacy over the existing formulations. We also show the real time scalability of the proposed methodology.
