Efficient Reciprocal Collision Avoidance between Heterogeneous Agents Using CTMAT
Efficient Reciprocal Collision Avoidance between Heterogeneous Agents Using CTMAT
复制标题
使用 CTMAT 有效避免异构代理之间的相互碰撞
DOI：
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复制
发表时间：
2018
期刊：
影响因子：
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通讯作者：
Wenping Wang
中科院分区：
文献类型：
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作者：
Yuexin Ma;Dinesh Manocha;Wenping Wang
我们提出了一种新的算法相互碰撞避免不同形状和大小的异构代理之间。我们提出了一种新的CTMAT表示中轴变换的基础上计算一个紧拟合边界形状为每个代理。每个CTMAT使用元组表示，元组由圆弧和线段组成。基于倒数速度障碍制定，我们减少了问题，解决属于相邻代理的每对元组之间的低维线性规划。我们预先计算元组的Minkowski和以加速运行时性能。最后，我们提供了一个有效的方法来更新每个代理的方向在本地的方式。我们已经实现了该算法，并强调其性能的基准对应的道路交通场景和不同的车辆。整体运行时的性能是以前的多代理碰撞避免算法，使用圆形或椭圆形代理。我们的方法是不太保守的，并导致更少的错误碰撞。
We present a novel algorithm for reciprocal collision avoidance between heterogeneous agents of different shapes and sizes. We present a novel CTMAT representation based on medial axis transform to compute a tight fitting bounding shape for each agent. Each CTMAT is represented using tuples, which are composed of circular arcs and line segments. Based on the reciprocal velocity obstacle formulation, we reduce the problem to solving a low-dimensional linear programming between each pair of tuples belonging to adjacent agents. We precompute the Minkowski Sums of tuples to accelerate the runtime performance. Finally, we provide an efficient method to update the orientation of each agent in a local manner. We have implemented the algorithm and highlight its performance on benchmarks corresponding to road traffic scenarios and different vehicles. The overall runtime performance is comparable to prior multi-agent collision avoidance algorithms that use circular or elliptical agents. Our approach is less conservative and results in fewer false collisions.
DOI：
10.1109/mits.2014.2306552
发表时间：
2014-06-01
影响因子：
3.6
作者：
Ziegler, Julius;Bender, Philipp;Zeeb, Eberhard
通讯作者：
Zeeb, Eberhard