Velocity Obstacle

Velocity obstacles (VOs) are a computational geometry-based approach to collision avoidance, primarily used in robotics and autonomous navigation to determine safe velocity ranges for agents moving in shared spaces. Current research focuses on improving VO's limitations, such as overly conservative behavior, by integrating it with techniques like control barrier functions (CBFs) and model predictive control (MPC) to guarantee safety and enhance efficiency, often employing algorithms like augmented Lagrangian spectral projected gradient descent (ALSPG). These advancements are significant for improving the safety and efficiency of multi-agent systems, particularly in complex dynamic environments like crowded pedestrian areas or busy waterways, enabling smoother, faster, and more reliable navigation for autonomous vehicles and robots.