Tuesday, July 28, 2009
Path Following Using Velocity Obstacles
Path following amongst dynamic objects is a tricky topic. Gladly there are tons of good papers about it and it seems to be lively topic in the academia and actually one of those which produce good papers with realistic test cases too.
Over the past year, I have experimented with velocity obstacles. I tried several different sampling schemes, but I never quite got my implementation robust or fast enough. There's a recent paper which solves all the problems I had with the approach so far. The paper is titled:
ClearPath: Highly Parallel Collision Avoidance for Multi-Agent Simulation
It is simple to implement and seems fast enough. I implemented the FVO union and new velocity selection mechanism and I like the results so far as you can see from the image above. I still need to add handling for static obstacles and then I'm ready to move on to actually create path follow example for Detour.