https://github.com/snape/avo2

Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles (C++)
https://github.com/snape/avo2

collision-avoidance cpp motion-planning robotics velocity-obstacles virtual-agents

Last synced: 30 days ago
JSON representation

Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles (C++)

• Host: GitHub
• URL: https://github.com/snape/avo2
• Owner: snape
• License: apache-2.0
• Created: 2018-04-21T00:07:15.000Z (over 7 years ago)
• Default Branch: main
• Last Pushed: 2025-06-22T01:58:55.000Z (4 months ago)
• Last Synced: 2025-09-04T19:45:53.150Z (about 1 month ago)
• Topics: collision-avoidance, cpp, motion-planning, robotics, velocity-obstacles, virtual-agents
• Language: C++
• Homepage: https://gamma.cs.unc.edu/AVO/
• Size: 256 KB
• Stars: 68
• Watchers: 2
• Forks: 18
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE
  • Code of conduct: .github/CODE_OF_CONDUCT.md
  • Citation: CITATION.cff
  • Codeowners: .github/CODEOWNERS
  • Security: .github/SECURITY.md
  • Support: .github/SUPPORT.md
  • Zenodo: .zenodo.json

Awesome Lists containing this project

README

          


Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles

===================================================================

[![DOI](https://zenodo.org/badge/130424630.svg)](https://zenodo.org/badge/latestdoi/130424630)

We present an approach for collision avoidance for mobile robots that takes into

account acceleration constraints. We discuss both the case of navigating a

single robot among moving obstacles, and the case of multiple robots

reciprocally avoiding collisions with each other while navigating a common

workspace. Inspired by the concept of velocity obstacles, we introduce the

acceleration-velocity obstacle (AVO) to let a robot avoid collisions with moving

obstacles while obeying acceleration constraints. AVO characterizes the set of

new velocities the robot can safely reach and adopt using proportional control

of the acceleration. We extend this concept to reciprocal collision avoidance

for multi-robot settings, by letting each robot take half of the responsibility

of avoiding pairwise collisions. Our formulation guarantees collision-free

navigation even as the robots act independently and simultaneously, without

coordination. Our approach is designed for holonomic robots, but can also be

applied to kinematically constrained non-holonomic robots such as cars. We have

implemented our approach, and we show simulation results in challenging

environments with large numbers of robots and obstacles.

![Build Status](https://github.com/snape/AVO2/workflows/ci/badge.svg?branch=main)

SPDX-FileCopyrightText: 2010 University of North Carolina at Chapel Hill  

SPDX-License-Identifier: Apache-2.0

Licensed under the Apache License, Version 2.0 (the "License");

you may not use this file except in compliance with the License.

You may obtain a copy of the License at

  

Unless required by applicable law or agreed to in writing, software

distributed under the License is distributed on an "AS IS" BASIS,

WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

See the License for the specific language governing permissions and

limitations under the License.

Please send all bug reports to [geom@cs.unc.edu](mailto:geom@cs.unc.edu).

The authors may be contacted via:

Jur van den Berg, Jamie Snape, Stephen J. Guy, and Dinesh Manocha  

Dept. of Computer Science  

201 S. Columbia St.  

Frederick P. Brooks, Jr. Computer Science Bldg.  

Chapel Hill, N.C. 27599-3175  

United States of America