Simulation of collision avoidance algorithms in 2D using Voronoi Diagrams

This work solves the Collision Avoidance problem in a simulation of a centralized system of holonomic multi-agents in a two-dimensional space free of static obstacles. For this, we propose an implementation of three modules in an architecture: Threat Assessment Strategy (TAS), Path Planning Strategy...

• Autor Principal: Cuenca Macas, Leduin José (author)
• Formato: bachelorThesis
• Idioma: eng
• Publicado: 2022
• Subjects: Prevención de colisiones; Diagramas de Voronoi; Optimización convexa; Programación cuadrática; Planificación de rutas; Simulación; Collision avoidance; Voronoi Diagrams; Convex optimization; Quadratic programming; Path planning; Simulation
• Acceso en liña: http://repositorio.yachaytech.edu.ec/handle/123456789/478