Two-Dimensional Distributed Velocity Collision Avoidance

Abstract

(U) This report presents the two-dimensional (2D) version of the Automated Velocity Obstacle Collision Avoidance (AVOCA) system. AVOCA is a platform independent, distributed collision avoidance system for multi-agent environments. AVOCA requires minimal communication between agents, with plans to extend into sensor based agent recognition in future work. AVOCA uses well-founded velocity obstacle approaches that have been enhanced for the AVOCA system. Additionally, AVOCA uses the novel kinematic velocity obstacle (KVO) to account for agent kinematics in its calculations, also presented in this report. Results are presented for both simulations and physical experimentation, which demonstrate both the system's ability to guide agents without collision in the vast majority of cases and the effectiveness of KVOs in general.

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Document Details

Document Type
Technical Report
Publication Date
Feb 11, 2014
Accession Number
ADA598520

Entities

People

  • Gary A. Hewer
  • Jim Bobinchak
  • Josh Clark
  • Josh L. Wilkerson
  • Katia Estabridis
  • Michael Culp
  • Tyler Halpin-chan

Organizations

  • Naval Air Warfare Center Weapons Division

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes
  • Weapons Technologies

DTIC Thesaurus Topics

  • Aerial Warfare
  • Aircrafts
  • Collision Avoidance
  • Collision Avoidance Systems
  • Collisions
  • Computer Programming
  • Environment
  • Graphics
  • Navigation
  • Network Protocols
  • Operating Systems
  • Simulations
  • Test And Evaluation
  • Three Dimensional
  • Two Dimensional
  • Unmanned Aerial Vehicles
  • Unmanned Vehicles

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Computational Fluid Dynamics (CFD)