Accession Number:

ADA598520

Title:

Two-Dimensional Distributed Velocity Collision Avoidance

Descriptive Note:

Final rept. 1 Jan-31 Dec 2013

Corporate Author:

NAVAL AIR WARFARE CENTER WEAPONS DIV CHINA LAKE CA

Report Date:

2014-02-11

Pagination or Media Count:

39.0

Abstract:

U This report presents the two-dimensional 2D version of the Automated Velocity Obstacle Collision Avoidance AVOCA system. AVOCA is a platform independent, distributed collision avoidance system for multi-agent environments. AVOCA requires minimal communication between agents, with plans to extend into sensor based agent recognition in future work. AVOCA uses well-founded velocity obstacle approaches that have been enhanced for the AVOCA system. Additionally, AVOCA uses the novel kinematic velocity obstacle KVO to account for agent kinematics in its calculations, also presented in this report. Results are presented for both simulations and physical experimentation, which demonstrate both the systems ability to guide agents without collision in the vast majority of cases and the effectiveness of KVOs in general.

Subject Categories:

  • Pilotless Aircraft
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE