17.9.0
Abstract
This proposal suggests integrating the ORCA (Optimal Reciprocal Collision Avoidance) algorithm into the NPC movement logic to enable dynamic obstacle avoidance.
2025-07-17.17.21.44.mov
Background
Currently, NPCs in the scenario simulator lack the ability to dynamically avoid surrounding objects. For example, if a pedestrian NPC walking on the road notices a vehicle ahead, it cannot stop and may collide with it.
Details
The ORCA algorithm used here is designed to allow multiple moving agents to avoid collisions by considering each other’s trajectories, and is implemented based on the following resources:
- https://github.com/AdaCompNUS/summit
- https://arxiv.org/pdf/1911.04074
- https://youtu.be/rF-n52gnMw0?feature=shared
References
Destructive Changes
N/A
Known Limitations
N/A