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

页码：148 / 152

页数：5

共 50 条

[31] Leader-follower type formation control using local displacement measurements: Velocity observer-based approach
Ahn, Hyo-Sung
[J]. 2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2015, : 603 - 608
[32] A Crowd Behavior Model Based on Reciprocal Velocity Obstacle Algorithm
Li, Xiaona
Qin, Wenhu
[J]. 2012 INTERNATIONAL WORKSHOP ON INFORMATION AND ELECTRONICS ENGINEERING, 2012, 29 : 2887 - 2893
[33] Leader-follower formation of vehicles with velocity constraints and local coordinate frames
Xiao Yu
Lu Liu
[J]. Science China Information Sciences, 2017, 60
[34] Leader-follower formation of vehicles with velocity constraints and local coordinate frames
Xiao YU
Lu LIU
[J]. Science China(Information Sciences), 2017, 60 (07) : 81 - 95
[35] Leader-follower formation control using PI controller
Halima, Medjoubi
Abdelouahab, Hassam
Yaakoub, Touafek Mohamed
[J]. PROCEEDINGS 2018 3RD INTERNATIONAL CONFERENCE ON ELECTRICAL SCIENCES AND TECHNOLOGIES IN MAGHREB (CISTEM), 2018, : 28 - 31
[36] Leader-Follower Based Locally Rigid Formation Control
Raghuwaiya, Krishna
Sharma, Bibhya
Vanualailai, Jito
[J]. JOURNAL OF ADVANCED TRANSPORTATION, 2018,
[37] Strong Structural Controllability Based on Leader-Follower Framework
QI Wei
JI Zhijian
LIU Yungang
LIN Chong
[J]. Journal of Systems Science & Complexity, 2023, 36 (04) : 1498 - 1518
[38] Vision-based localization of leader-follower formations
Mariottini, Gian Luca
Pappas, George
Prattichizzo, Domenico
Daniilidis, Kostas
[J]. 2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8, 2005, : 635 - 640
[39] A binary cooperative bat algorithm based optimal topology design of leader-follower consensus
Zhang, Haopeng
[J]. ISA TRANSACTIONS, 2020, 96 (96) : 51 - 59
[40] Heterogeneous Leader-Follower Formation based on Kinematic Models
Santana, Lucas Vago
Brandao, Alexandre Santo
Sarcinelli-Filho, Mario
[J]. 2016 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2016, : 342 - 346

← 1 2 3 4 5 →