Python Implementation of Reciprocal Velocity Obstacle (RVO) for Multi-agent Systems
@ARTICLE{8361450,
author={M. {Guo} and M. M. {Zavlanos}},
journal={IEEE Transactions on Robotics},
title={Multirobot Data Gathering Under Buffer Constraints and Intermittent Communication},
year={2018},
volume={34},
number={4},
pages={1082-1097},
doi={10.1109/TRO.2018.2830370}}
This package contains a plug-and-play Python package for collision-avoidance in multi-agent system, based on reciprocal velocity obstacles (RVO) and hybrid reciprocal velocity obstacles (HRVO).
It has minimal impact on your control objective and requires minimal integration.
from your_module import compute_desired_V, Update_V
from RVO import RVO_update
# your control objective here
V_desired = compute_desired_V(X, control_objective, V_max)
# plug in the RVO controller from this package
V = RVO_update(X, V_desired, workspace_model)
# let the robot move
X = Update_X(X, V, step)
maximal velocity
and use very small step size
.RVO_update
such as the change rate of V
, the lower bound of V
.