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# Is it possible to combine steering behavior and Reciprocal Velocity Obstacle

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5 replies to this topic

### #1pandaa  Members

Posted 17 July 2012 - 09:28 PM

Replace the obstacle avoidance of steering behavior with RVO, is it possible?

Posted 20 July 2012 - 03:29 AM

RVO is A steering behaviour, every steering behaviour can be combined to obtain the result you want. When no obstacles your point move according to its behaviour, when you find obstacle the point avoid the obstacle using RVO

Peace and love, now I understand really what it means! Guardian Angels exist! Thanks!

### #3xiongyouyi  Members

Posted 20 July 2012 - 06:50 AM

RVO is A steering behaviour, every steering behaviour can be combined to obtain the result you want. When no obstacles your point move according to its behaviour, when you find obstacle the point avoid the obstacle using RVO

I mean steering behavior is http://www.red3d.com/cwr/steer/

### #4pandaa  Members

Posted 22 July 2012 - 11:36 PM

steering behavior is force-based, RVO is velocity-based

### #5LorenzoGatti  Members

Posted 23 July 2012 - 04:10 AM

steering behavior is force-based, RVO is velocity-based

Not really. Velocity obstacle algorithms use velocities as an input to compute regions in the plane; control of your entity in order to avoid those regions is a conceptually separate step and it is achieved by applying forces, exactly like in the case of traditional steering behaviours and any other type of physically decent dynamic simulation.
You might be confused by the fact that many steering behaviours compute forces rather directly by adding up components instead of explicitly computing the appropriate acceleration for a desired velocity and location like in typical VO setups, but they have an equally advisory value; for example, these forces should be realistically clipped to a certain maximum force, further reduced to avoid exceeding velocity limits, and so on.

You can combine RVOs and steering behaviours in a number of ways, most likely by giving priority to RVO-based collision avoidance: for example, you might compute the force your steering behaviours would like to apply and correct it by braking and by swerving towards the "best" side of the RVO if it would cause a collision.

Omae Wa Mou Shindeiru

### #6pandaa  Members

Posted 23 July 2012 - 11:53 PM

steering behavior is force-based, RVO is velocity-based

Not really. Velocity obstacle algorithms use velocities as an input to compute regions in the plane; control of your entity in order to avoid those regions is a conceptually separate step and it is achieved by applying forces, exactly like in the case of traditional steering behaviours and any other type of physically decent dynamic simulation.
You might be confused by the fact that many steering behaviours compute forces rather directly by adding up components instead of explicitly computing the appropriate acceleration for a desired velocity and location like in typical VO setups, but they have an equally advisory value; for example, these forces should be realistically clipped to a certain maximum force, further reduced to avoid exceeding velocity limits, and so on.

You can combine RVOs and steering behaviours in a number of ways, most likely by giving priority to RVO-based collision avoidance: for example, you might compute the force your steering behaviours would like to apply and correct it by braking and by swerving towards the "best" side of the RVO if it would cause a collision.

thanks, I'll have a try.

Old topic!

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