Independent Navigation of Multiple Robots and Virtual Agents

We demonstrate an approach for smooth and collision-free navigation of multiple mobile robots or virtual agents amongst each other. Each entity senses its surroundings and acts independently without central coordination or communication with other entities. Our approach uses both the current position and the velocity of other entities to predict their future trajectory in order to avoid collisions. Moreover, our approach is reciprocal and avoids oscillations by explicitly taking into account that the other entities also sense their surroundings and change their trajectories accordingly. We apply our approach to a set of iRobot Create mobile robots and a crowd of thousands of agents in a virtual environment. We show natural, direct, and collision-free navigation in several scenarios [Jamie Snape, Stephen J. Guy, Jur van den Berg, Sean Curtis, Sachin Patil, Ming C. Lin, and Dinesh Manocha].

http://gamma.cs.unc.edu/INDNAV/

Category:

Science & Technology