robot_config.py

import numpy as np

class Parameters:
    def __init__(self) -> None:
        
        # Kinematic constraints
        self.max_a = 0.2  # Max longitudinal acceleration
        self.max_d_w = 0.7  # Max change in Yaw rate
        self.max_v = 1.0  # Max linear velocity
        self.min_v = -0.5  # Min linear velocity
        self.max_w = 0.7  # Max angular velocity
        self.min_w = -0.7 # Min angular velocity
        
        # Discretization
        self.dt = 0.1 
        self.v_res = 0.01  # Linear velocity resolution
        self.w_res = 0.00175  # Angular velocity resolution

        # Robot
        self.chassis_radius = 1.0

        # Dynamic window
        self.dw_time = 3.0
        self.heading_gain = 0.2
        self.velocity_gain = 1.0
        self.distance_gain = 1.7
        # self.distance_gain = 1.5


        # Obstacles in the X and Y coordinates
        self.obstacles = np.array([
            [1.6, 2.3],
            [3.0, 3.0],
            [2.0, 7.0],
            [3.0, 5.5],
            [6.0, 4.2],
            [6.0, 8.3],
            [7.0, 1.5],
            [8.0, 6.0]
        ])

        # Alternative set of obstacles
        # self.obstacles = np.array([
        #     [2.3, 1.5],
        #     [3.0, 3.0],
        #     [2.0, 7.0],
        #     [3.0, 5.5],
        #     [6.0, 4.2],
        #     [6.0, 8.3],
        #     [7.0, 1.5],
        #     [8.0, 6.0]
        # ])