Functional-voxel Modeling of Navigation Algorithm ORCA

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.