Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems

The source code of the paper "Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems" [RA-Letter]

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Citation

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}
}

Prerequisite

• numpy
• cvxpy
• matplotlib

Installation

git clone https://github.com/junzengx14/vo-polytope.git
cd vo-polytope
pip install -e .  

Run examples

Navigation with robots

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'.

Navigation with robots and obstacles

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).

Compare different VO

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

Random tests

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)

Save multimedia file

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

Contact

Jihao Huang (jihaoh@zju.edu.cn)
Jun Zeng (zengjunsjtu@berkeley.edu)