Ahead

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Ahead#

A kinematics that restricts the agent to move forwards (i.e., it blocks backwards or sidewards movements). It mimics how pedestrian prefer to face the direction they are moving to.

This kinematics works on velocities specified relative to the agent.

Example#

The video has been recorded using

$ navground_py record_video ahead.yaml ahead.mp4 --factor 1 --grid 1 --area -3 -1 3 1

with the following configuration

steps: 300
time_step: 0.0333
scenario:
  groups:
    - type: human
      color: darkcyan
      number: 1
      radius: 0.25
      control_period: 0.1
      orientation: 1
      kinematics:
        type: Ahead
        max_speed: 1
        max_angular_speed: 3.14
      behavior:
        type: Dummy
        heading: target_point
      task:
        type: Waypoints
        waypoints: [[2, 0], [-2, 0]]
        loop: true
        tolerance: 0.5
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