Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents

<div>Scenario 1. The different viewpoints of <svg height="12.3054pt" id="M138" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -9.01432 15.0297 12.3054" width="15.0297pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M856 669C824 657 796 643 772 628C709 667 631 687 551 687C314 687 158 548 158 412C158 332 216 282 300 282C445 282 516 426 527 561H507C478 406 414 312 302 312C245 312 199 352 199 408C199 535 345 657 550 657C617 657 687 644 742 609C644 538 583 430 495 271C383 71 317 16 193 16C122 16 73 60 73 95H75C82 84 97 83 105 83C133 83 148 106 148 131C148 160 125 179 97 179C64 179 38 151 38 108C38 42 104 -15 211 -15C368 -15 496 71 610 302C672 426 704 522 770 588C803 559 825 518 825 465C825 382 787 316 731 316C710 316 697 328 697 345C697 358 700 380 733 399L723 417C688 398 665 367 665 338C665 303 688 272 737 272C821 272 886 359 886 447C886 516 850 572 797 612C816 627 836 639 863 650L856 669Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.83,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g></svg> while it is in motion to its target with one rectangular-plane obstacle. (a) Default 3D motion view. (b) Top 3D motion view. (c) Front 3D motion view.</div>

Journal of Advanced Transportation

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Figure 7

Figure 7: Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents 