导航算法ORCA的功能体素建模

Proceedings of the 30th International Conference on Computer Graphics and Machine Vision (GraphiCon 2020). Part 2 Pub Date : 2020-12-17 DOI:10.51130/graphicon-2020-2-3-56

M. Loktev, A. Tolok, V. Romakin

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引用次数: 0

摘要

本文考虑了一个使用函数体素方法对ORCA算法建模的例子。利用Rvachev函数(r函数)的集合论装置，给出了允许碰撞区域的解析描述。基于图形图像模型，提出了一种在平面和空间上构造机器人允许速度区域的方法。

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Functional-voxel Modeling of Navigation Algorithm ORCA

The article considers an example of modeling the ORCA algorithm using the functional-voxel method. An analytical description of the permissible collision zone using the set-theoretic apparatus of Rvachev functions (R-functions) is proposed. Based on graphical image models, an approach to constructing the area of permissible robot speeds on the plane and in space has been developed.

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Proceedings of the 30th International Conference on Computer Graphics and Machine Vision (GraphiCon 2020). Part 2

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