The source code of the paper "Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems" [RA-Letter]
| PDF_IEEE | PDF_Arxiv | Video_Youtube |
If you find this code or paper is helpful, you can star this repository and cite our paper by the following BibTeX entry:
@article{huang2023velocity,
author={Huang, Jihao and Zeng, Jun and Chi, Xuemin and Sreenath, Koushil and Liu, Zhitao and Su, Hongye},
journal={IEEE Robotics and Automation Letters},
title={Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems},
year={2023},
volume={8},
number={6},
pages={3502-3509},
doi={10.1109/LRA.2023.3269295}
}
- numpy
- cvxpy
- matplotlib
git clone https://github.com/junzengx14/vo-polytope.git
cd vo-polytope
pip install -e .
python vo_polytope/simulation_experiment/naviagtion_with_robots/multi_polytopic_robots.py
You can change the number or shape of robots in 'robot_world.yaml'.
python vo_polytope/simulation_experiment/naviagtion_with_obstacles/naviagtion_with_obstacles.py
You can switch the yaml file to see different scenarios, such as 'hybrid_obstacle.yaml' (include both dynamic and static obstacles) or 'dynamic_obstacle.yaml' (only include dynamic obstacles).
python vo_polytope/simulation_experiment/evaluation/evaluate_scenario.py
You may change some codes to see different results.
des_vel_list = env.get_vo_list_polygon('circle_vo') # polytope_vo
Get random data and analyze the datas
python vo_polytope/random_tests/random_evaluate.py
python vo_polytope/random_tests/data_analysis.py
You can change in 'polygon_world.yaml' to get different results. (such as size)
If you want to save multimedia file, you first need to save the fig, and then call 'image_to_mp4.py', for example:
python vo_polytope/simulation_experiment/naviagtion_with_robots/multi_polytopic_robots.py
python vo_polytope/simulation_experiment/naviagtion_with_robots/image_to_mp4.py
Jihao Huang ([email protected])
Jun Zeng ([email protected])