FOV-Limited Reciprocal Avoidance

Safe avoidance using RVO based on local perception within a limited Field of View (FOV).

Real-World Applications

Factory Layout: In manufacturing, obstacle positions need to be pre-planned to ensure AGVs have sufficient passages. Simulation can verify layout feasibility before actual deployment.

Experiment Steps

1. FOV Cone: FOV area displayed in front of each UAV
2. Local Sensing: UAVs only react to obstacles within FOV
3. Cooperative Avoidance: Observe global coordination from local information

Simulation Experiment

Functions: models.sensing.detectInFOV, models.planning.rvoBehavior, models.robotics.quadrotorUpdate, models.sensing.generateCircleDistribution