Crowd Navigation using Leader-Follower Algorithm Based Reciprocal Velocity Obstacles

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.