The Hybrid Reciprocal Velocity Obstacle

https://gamma.cs.unc.edu/HRVO/

We present the hybrid reciprocal velocity obstacle (HRVO) for collision-free and oscillation-free navigation of multiple mobile robots or virtual agents. Each robot senses its surroundings and acts independently without central coordination or communication with other robots. Our approach uses both the current position and the velocity of other robots to compute their future trajectories in order to avoid collisions. Moreover, our approach is reciprocal and avoids oscillations by explicitly taking into account that the other robots also sense their surroundings and change their trajectories accordingly. We apply hybrid reciprocal velocity obstacles to iRobot Create mobile robots and demonstrate direct, collision-free, and oscillation-free navigation.

Copyright 2009 University of North Carolina at Chapel Hill

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

  https://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Please send all bug reports to [email protected].

The authors may be contacted via:

Jamie Snape, Jur van den Berg, Stephen J. Guy, and Dinesh Manocha
Dept. of Computer Science
201 S. Columbia St.
Frederick P. Brooks, Jr. Computer Science Bldg.
Chapel Hill, N.C. 27599-3175
United States of America