In this assignment we will use velocity obstacle formulation to perform goal reaching obstacle avoidance(Using the Collision cone / velocity obstacle constraint as discussed in the class). Consider the following situation for the above: A single agent is supposed to reach its goal while avoiding multiple moving obstacles.
You can consider using a cost function in order to arrive at the optimal velocity such that the agent reaches the goal while avoiding the obstacles. You can select your preferred method for solving it: (a) Optimization (b) Sampling. Do the above for: (a) Holonomic
Note: Ensure that you show that the agent deviates from its linear path to make sure its actually avoiding the obstacle as shown in Fig. 1
Figure 1: Example of agent avoiding a moving obstacle: Left: Initial Config. ; Middle: While avoiding ; Right: After avoiding. Do the above for multiple dynamic obstacles.
