Crowd Navigation using Leader-Follower Algorithm Based Reciprocal Velocity Obstacles

被引：0
|
作者：
Juniastuti, Susi [1 ]
Fachri, Moch [1 ]
Nugroho, Supeno Mardi Susiki [1 ]
Hariadi, Mochammad [1 ]
机构：
[1] Inst Teknol Sepuluh Nopember, Dept Elect Engn, Surabaya, Indonesia
来源：
2016 INTERNATIONAL SYMPOSIUM ON ELECTRONICS AND SMART DEVICES (ISESD) | 2016年
关键词：
RVO (Reciprocal Velocity Obstacles); multiagent navigation; leader-follower relationship;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This research employs Reciprocal Velocity Obstacles (RVO) to create oscillation- and collision-free motion with multiagent navigation. By combining RVO with the steering behaviour i.e. leader following behaviour thus creating leader. follower relationship between agents. This relationship leads to the navigation to their shared destination. Each agent i.e. follower navigates to follow their leader to reach their destination together. Experimental result demonstrates the navigation of hundreds of agents in densely populated environments which showing 18% faster compared with relation -less navigation to achieve the crowd goal.
引用
收藏
页码：148 / 152
页数：5
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