关键词：六自由度仿真; AMCL（自适应蒙特卡罗定位）;自主导航;自主操作
摘 要：This report presents the two-dimensional (2D) version of the Automated Velocity Obstacle Collision Avoidance (AVOCA) system. AVOCA is a platform independent, distributed collision avoidance system for multi-agent environments. AVOCA requires minimal communication between agents, with plans to extend into sensor based agent recognition in future work. AVOCA uses well- founded velocity obstacle approaches that have been enhanced for the AVOCA system. Additionally, AVOCA uses the novel kinematic velocity obstacle (KVO) to account for agent kinematics in its calculations, also presented in this report. Results are presented for both simulations and physical experimentation, which demonstrate both the system's ability to guide agents without collision in the vast majority of cases and the effectiveness of KVOs in general.