Goal velocity obstacles for spatial navigation of multiple virtual agents

Authors:
Jamie Snape;Dinesh Manocha
Affiliations:
University of North Carolina at Chapel Hill, Chapel Hill, NC, USA;University of North Carolina at Chapel Hill, Chapel Hill, NC, USA
Venue:
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Year:
2013

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Abstract

We present the goal velocity obstacle for the spatial navigation of multiple virtual agents to planar goal regions in the two-dimensional workspace. Our approach uses velocity obstacles not only to compute collision-avoiding velocities with respect to other agents, but also to specify velocities that will direct an agent toward its spatial goal region. We demonstrate shorter path lengths and fewer collisions with only microseconds of additional computation per agent per time step than velocity-based methods that optimize on a single, preferred velocity toward the goal of each agent.