Collision Avoidance Simulation Using Voronoi Diagrams in a Centralized System of Holonomic Multi-agents

Leduin José Cuenca Macas, Israel Pineda

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

This work solves the Collision Avoidance problem in a simulation of a centralized system of holonomic multi-agents in a two dimensional space free of static obstacles. For this, we propose an implementation of three modules in an architecture: Threat Assessment Strategy (TAS), Path Planning Strategy (PPS), and Path Tracking Strategy (PTS). The Buffered Voronoi Cells represent the TAS. The PPS modules use two algorithms: the Analytical Geometric Algorithm (AGA) and the Receding Horizons Control (RHC) based on Quadratic Programming (QP) Algorithm. Finally, PTS controls the tracking according to fixed distance magnitudes in each iteration. The analysis of the results considers the computational execution time, the number of steps until convergence, and the calculation of optimal values. Also, these results are compared with the Optimal Reciprocal Collision Avoidance (ORCA) algorithm. In this way, our proposal successfully addresses and solves the collision avoidance problem but takes more execution time and number of steps compared with the ORCA algorithm. Besides, the number of steps of AGA is closer to ORCA, producing promising results with an accuracy of 95%.

Idioma originalInglés
Título de la publicación alojadaInformation and Communication Technologies - 10th Ecuadorian Conference, TICEC 2022, Proceedings
EditoresJorge Herrera-Tapia, Germania Rodriguez-Morales, Efraín R. Fonseca C., Santiago Berrezueta-Guzman
EditorialSpringer Science and Business Media Deutschland GmbH
Páginas18-31
Número de páginas14
ISBN (versión impresa)9783031182716
DOI
EstadoPublicada - 2022
Publicado de forma externa
Evento10th Ecuadorian Congress of Information and Communication Technologies, TICEC 2022 - Virtual, Online
Duración: 12 oct. 202214 oct. 2022

Serie de la publicación

NombreCommunications in Computer and Information Science
Volumen1648 CCIS
ISSN (versión impresa)1865-0929
ISSN (versión digital)1865-0937

Conferencia

Conferencia10th Ecuadorian Congress of Information and Communication Technologies, TICEC 2022
CiudadVirtual, Online
Período12/10/2214/10/22

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