astar In the first AStar algorithm folder,add directory to MATLAB path. Run the entire program on the ASTAR_GUI interface. After you hit the run, select different types of maps on the pop-up interface, and set their starting points, targets, and obstacles. For more about Astar algorithms,...
In this part, you should implement the RRT algorithm to plan a collision-free motion to reach the target configuration (specified in the demo.py). See a video demo for this part here. Build the tree and visualization (30%). Find and visualize the solution path (10%). Control the robot...
local_planner: local algorithm, details in SectionVersion. xyz_pos and yaw: initial pose. plugins: other applications using in simulation pedestrians: configure file to add dynamic obstacles(e.g. pedestrians). obstacles: configure file to add static obstacles. ...
## pedestrians_config.yaml#sfm algorithm configuresocial_force:animation_factor:5.1#only handle pedestrians within `people_distance`people_distance:6.0#weights of social force modelgoal_weight:2.0obstacle_weight:80.0social_weight:15group_gaze_weight:3.0group_coh_weight:2.0group_rep_weight:1.0#pedestrians...