BRaVO: Biased Reciprocal Velocity Obstacles Break Symmetry in Dense Robot Populations

2012 Ninth Conference on Computer and Robot Vision Pub Date : 2012-05-28 DOI:10.1109/CRV.2012.65

Seyed Abbas Sadat, R. Vaughan

引用次数: 11

Abstract

We present an extension to the Reciprocal Velocity Obstacles (RVO) approach to multi-robot collision avoidance with the aim of alleviating the problem of congestion caused by symmetrical situations in dense conditions. We show that in a resource transportation task RVO robots are unable to make progress due to crowds of robots with opposing navigation goals at source and sink. We introduce Biased Reciprocal Velocity Obstacles (BRVO), which breaks the symmetry among robots by giving priority to the robots leaving a task-related place of interest. BRVO is compared to RVO in two experiments and it is shown that BRVO is able to resolve the congestion much more quickly than RVO.

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在密集的机器人群体中，有偏差的反向速度障碍打破了对称性

我们提出了一种扩展的互向速度障碍(RVO)方法，用于多机器人避撞，目的是缓解密集条件下对称情况引起的拥堵问题。我们证明了在资源运输任务中，由于在源和汇处有相反导航目标的机器人群体，RVO机器人无法取得进展。我们引入了有偏倒数速度障碍(BRVO)，它通过优先让机器人离开与任务相关的兴趣点来打破机器人之间的对称性。通过两个实验对BRVO和RVO进行了比较，结果表明BRVO比RVO更快地解决了拥塞问题。

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2012 Ninth Conference on Computer and Robot Vision

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