Dynamove – Multi agent navigation using velocity obstacles.
Niklas Wanngren · 2011
The purpose of this thesis has been to investigate and understand local navigation and avoidance in a virtual environment. The goal has been to create an algorithm that enhances the performance where the current algorithms have problems, such as with agent oscillation. This has been done using a for the thesis constructed test environment and the main method of interest has been ?Velocity obstacles? and its iterations. Different theories and methods have been tested and evaluated to achieve the best results possible with the current goals. The work has been done at and in cooperation with Avalanche Studios.The result of the thesis is an algorithm called Dynamove. Dynamove is a combination between existing and new methods and approaches in the areas that navigation and avoidance with ?Velocity obstacles? consists of. The main difference between existing algorithms and Dynamove is new methods for calculating the position of the ?Velocity obstacles? and calculating and choosing new velocities. With the changes Dynamove managed to get a significant reduction to collision rate and only a third of the oscillation rate. This makes Dynamove a significant improvement compared to other algorithms.