Hybrid Velocity Obstacle (HRVO)

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Hybrid Velocity Obstacle (HRVO)#

Snape, J., Van Den Berg, J., Guy, S.J. and Manocha, D., 2011. The hybrid reciprocal velocity obstacle. IEEE Transactions on Robotics, 27(4), pp.696-706.

A wrapper of the open-source implementation (Apache License 2.0) by Jamie Snape, Jur van den Berg, Stephen J. Guy, and Dinesh Manocha.

HRVO is another commonly used algorithm from the family of using reciprocal velocity obstacles like Optimal Reciprocal Collision Avoidance (ORCA) (read more from authors).

Example#

The video has been recorded using

$ navground_py record_video hrvo.yaml hrvo.mp4 --factor 5

with the following configuration

steps: 1000
time_step: 0.1
scenario:
  type: Cross
  agent_margin: 0.1
  side: 4
  target_margin: 0.1
  tolerance: 0.5
  groups:
    -
      type: thymio
      number: 20
      radius: 0.08
      control_period: 0.1
      speed_tolerance: 0.02
      kinematics:
        type: 2WDiff
        wheel_axis: 0.094
        max_speed: 0.166
      state_estimation:
        type: Bounded
        range: 5.0
      behavior:
        type: HRVO
        optimal_speed: 0.12
        horizon: 5.0
        safety_margin: 0.02
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