期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 3, 页码 4520-4527出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3067851
关键词
Collision avoidance; Navigation; Trajectory; Velocity measurement; Time measurement; Simulation; Sensors; Collision avoidance; path planning for multiple mobile robots or agents
类别
The VR-ORCA algorithm relaxes the original assumption in ORCA by allowing the sum of responsibilities of a pair of agents to be one, and independently determines the responsibility division between them.
As one of the most popular multi-agent path planning approaches, the optimal reciprocal collision avoidance (ORCA) algorithm assumes that each agent takes half the responsibility for collision avoidance. However, due to the asymmetric situation faced by adjacent agents, they are expected to take different responsibilities for collision avoidance to improve the entire crowd's navigation performance. Thus, in this letter, we propose the variable responsibility optimal reciprocal collision avoidance (VR-ORCA) algorithm, which relaxes the original assumption in ORCA and only requires the responsibilities of a pair of agents sum to one. In particular, the responsibility division between a pair of nearby agents is determined independently for each agent by minimizing a cost function involving their common neighbors. We validate our approach on a variety of simulated benchmarks and the results demonstrate that our novel method is beneficial in reducing the collision probability, travel time and distance of ORCA.
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