Inert and mobile agents navigation interaction using reciprocal velocity obstacles for collisions avoidance

Susi Juniastuti*, Moch Fachri, Supeno Mardi Susiki Nugroho, Mochamad Hariadi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

Reciprocal velocity obstacles (RVO) is a method used for multiagents navigation that enables collision and oscillation-free avoidance against other mobile agents. Despite its ability in collision avoidance between agents, RVO has a hard time dealing with static obstacle avoidance. This problem has led to a tendency to use RVO only for agents avoidance and use other methods to handle static obstacles avoidance. In this paper, we present our new approach for interaction between mobile agents against static obstacles in the RVO based collision avoidance. We propose a concept called inert agents that interact as static obstacles. This inert agent is stand firm as static obstacles should be, while the inert agent also able to satisfy reactive collision avoidance nature of RVO to produce better avoidance result. We conduct an experiment to compare the performance of avoidance in a certain scenario. Our method shows better results when compared with generic static obstacles.

Original languageEnglish
Pages (from-to)1116-1124
Number of pages9
JournalIndonesian Journal of Electrical Engineering and Computer Science
Volume26
Issue number2
DOIs
Publication statusPublished - May 2022

Keywords

  • Autonomous agents
  • Collision avoidance
  • Inert agents
  • Mobile agents
  • Reciprocal velocity obstacles

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