A modified Hybrid Reciprocal Velocity Obstacles approach for multi-robot motion planning without communication
Maxime Sainte Catherine,Eric Lucet,Maxime Sainte Catherine,Eric Lucet
Ensuring a safe online motion planning despite a large number of moving agents is the problem addressed in this paper. Collision avoidance is achieved without communication between the agents and without global localization system. The proposed solution is a modification of the Hybrid Reciprocal Velocity Obstacles (HRVO) combined with a tracking error estimation, in order to adapt the Velocity Obs...
