Modeling of Multi-Agent System: Equations Appearing in Collision Avoidance Control Methods
Three mainstream approaches of collision avoidance control is discussed: the potential-driven approach, the gyroscopic action approach, and velocity obstacle approach. It is found that the potential-driven approach may also deal with angular motion through the utilization of angular potential field. It is also found that the gyroscopic action approach is actually the angular aspect of the potential-driven approach. The formulation of control solution using velocity obstacle is presented, along with its geometric representation. So far in the discussion, control solution using velocity obstacle approach is most resistant to deadlock situation.
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