Lidar

Contents

Lidar#

A sensor that simulates a planar scanner with configurable resolution and field of view. Updates field “range” of a sensing environment state with the ranging measurements.

Example#

The video has been recorded in the Sensors notebook with the following configuration

steps: 200
time_step: 0.0333
record_pose: true
record_sensing:
  - agent_indices: [0]
scenario:
  walls:
   - line: [[-2, -1], [6, -1]]
   - line: [[-2, 1], [6, 1]]
   - line: [[1, -1], [1, 0.25]]
   - line: [[2, 0.0], [2, 1]]
   - line: [[3, -0.75], [4, 0.25]]
  groups:
    - type: quadrotor
      color: darkorange
      number: 1
      radius: 0.15
      orientation: 0
      kinematics:
        type: Omni
        max_speed: 1
        max_angular_speed: 10.0
      behavior:
        type: UsingLidar
        horizon: 5
        safety_margin: 0.1
        heading: velocity
        rotation_tau: 0.25
      task:
        type: Direction
        direction: [1, 0]
      state_estimation:
        type: Lidar
        range: 3.5
        start_angle: -3.14
        field_of_view: 6.28
        resolution: 360
Contents