UNITY Simulation for Navigation using FLC-ORCA, Improved A-Star & Directional ORCA

Obstacle avoidance methodologies seldom work under assumption or limitation of other obstacel implying similar collision averting protocol. Furthermore, prerequisite of having perfect sensing and having central communciation are also needed in order to safely navigate witout collision. A novel obstacle avoidance method of FLC-ORCA is initiated in an attemp to fill in the void within obstacle avoidance. The proposed method is compared with other state-of-the-art  tecniques such as Improved A-Star and Directional ORCA. Simulation done under UNITY software programming and involves obstacles of static, dynamic and intelligent entity state of nature.