Two-Dimensional Distributed Velocity Collision Avoidance
Josh L. Wilkerson, Jim Bobinchak, Michael Culp, Josh Clark, Tyler Halpin-Chan, Katia Estabridis, Gary A. Hewer · 2014
Abstract : (U) This report presents the two-dimensional (2D) version of the Automated Velocity Obstacle Collision Avoidance (AVOCA) system. AVOCA is a platform independent, distributed collision avoidance system for multi-agent environments. AVOCA requires minimal communication between agents, with plans to extend into sensor based agent recognition in future work. AVOCA uses well-founded velocity obstacle approaches that have been enhanced for the AVOCA system. Additionally, AVOCA uses the novel kinematic velocity obstacle (KVO) to account for agent kinematics in its calculations, also presented in this report. Results are presented for both simulations and physical experimentation, which demonstrate both the system's ability to guide agents without collision in the vast majority of cases and the effectiveness of KVOs in general.