Omni-directional

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Omni-directional#

Restricts velocities to inside the region defined by a maximal speed and a maximal angular speed. It is the only kinematics that operates on twist specified in absolute coordinates too, as it does not consider the agents’ orientation.

Example#

The video has been recorded using

$ navground_py record_video omni.yaml omni.mp4 --factor 1 --grid 1 --area -2.5 -1 2.5 1 --relative_margin 0 --fps 30 --width 1280

with the following configuration

steps: 300
time_step: 0.0333
scenario:
  groups:
    - type: quadrotor
      color: darkcyan
      number: 1
      radius: 0.25
      control_period: 0.1
      orientation: 1
      kinematics:
        type: Omni
        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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