项目作者: gowrijsuria

项目描述 :
Velocity-Obstacle using Sampling
高级语言: Jupyter Notebook
项目地址: git://github.com/gowrijsuria/Velocity-Obstacle.git
创建时间: 2021-05-30T09:52:58Z
项目社区:https://github.com/gowrijsuria/Velocity-Obstacle

开源协议:

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Velocity-Obstacle using Sampling

VO-1

Obstacle Avoidance using Collision Cone

  • A single holonomic robot is supposed to reach its goal by avoiding collision with moving obstacles. We use velocity obstacle formulation to perform goal reaching obstacle avoidance in a dynamic environment.
  • We try to calculate an optimal velocity such that the agent reaches the goal while avoiding the obstacles using collision cone constraints.
  • We perform a sampling based method to generate different velocities within a range and then find the optimal velocity with minimum cost.