RVO2-3D:在三个维度上均能最佳地避免相互碰撞(C ++)-源码

上传者: 42109925 | 上传时间: 2021-09-22 15:57:19 | 文件大小: 53KB | 文件类型: ZIP
最佳的三维互撞避免 我们提出了一种避免相互碰撞的正式方法,其中多个独立的移动机器人或特工在公共工作空间中移动时,必须避免彼此之间的碰撞而无需特工之间的通信。 我们的公式,即最佳的相互避免碰撞(ORCA),通过让每个代理承担避免成对碰撞的一半责任,为无碰撞运动提供了充分的条件。 为每个代理选择最优动作简化为求解低维线性程序,并且我们证明了生成的动作是平滑的。 我们在涉及数千个代理的几个密集和复杂的模拟方案工作空间上测试了最佳的相互碰撞避免方法,并在短短几毫秒内为所有代理计算了无冲突动作。 RVO2-3D库是我们算法的三个方面的开源C ++ 98实现。 它具有用于第三方应用程序的简单API。

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