Functional-voxel Modeling of Navigation Algorithm ORCA-Reference-Cited by-同舟云学术

Functional-voxel Modeling of Navigation Algorithm ORCA

Published:2020-12-17 Issue: Volume: Page:paper56-1-paper56-11
ISSN:
Container-title:Proceedings of the 30th International Conference on Computer Graphics and Machine Vision (GraphiCon 2020). Part 2
language:en
Short-container-title:

Author:

Loktev Mikhail¹^ORCID,Tolok Alexey^ORCID,Romakin Vladimir^ORCID

Affiliation:

1. V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences

Abstract

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.

Publisher

MONOMAX Limited Liability Company

Reference16 articles.

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