V-RVO：ボロノイ図と相互速度障害物を用いた分散型マルチエージェント衝突回避
V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles
バッファ付きボロノイセルと相互速度障害物を組み合わせ、密集環境で多数のエージェントが分散的に衝突を回避する手法を提案。ORCAより保守的でない回避行動を実現する。
著者: Senthil Hariharan Arul, Dinesh Manocha
分類: cs.RO, cs.MA
原文アブストラクト
We present a decentralized collision avoidance method for dense environments that is based on buffered Voronoi cells (BVC) and reciprocal velocity obstacles (RVO). Our approach is designed for scenarios with large number of close proximity agents and provides passive-friendly collision avoidance guarantees. The Voronoi cells are superimposed with RVO cones to compute a suitable direction for each agent and we use that direction for computing a local collision-free path. Our approach can satisfy double-integrator dynamics constraints and we use the properties of the BVC to formulate a simple, decentralized deadlock resolution strategy. We demonstrate the benefits of V-RVO in complex scenarios with tens of agents in close proximity. In practice, V-RVO's performance is comparable to prior velocity-obstacle methods and the collision avoidance behavior is significantly less conservative than ORCA.
