Corridor

Corridor#

In this scenario, agents travel along a straight corridor, whose ends are wrapped together, i.e., where agents exiting from one side are teleported to the other side. State estimation and collisions both conform to this lattice.

In a bidirectional corridor, half of the agents need to travel towards one end of a straight corridor, and the other half towards the other end. This scenario tests opposing flows of agents, where some behaviors let the agents spontaneously organize in lanes of opposing flow.

Instead, in an unidirectional corridor, all agents travel towards the same direction.

Initialization#

Two walls are added along the corridor. No extra agents are created. Agents are uniformly initialized inside the corridor, avoiding that they overlap. Agents navigation target directions are set.

Parameters#

agent_margin:

the minimal distance between agents at initialization. (float, default = 0.1)

add_safety_to_agent_margin:

Wheter to add the agent safety margin to the minimal distance between agents at initialization. (float, bool = true)

length:

the length of the corridor. (float, default = 10.0)

width:

the width of the corridor. (float, default = 1.0)

bidirectional:

whether agents are divided into two half traveling in opposite directions. (bool, default = true)

Example#

The video has been recorded using

$ navground record_video install/navground_examples_yaml/experiment/corridor.yaml --factor 5

and a real time simulation can be visualized in a browser using

$ navground run_rt install/navground_examples_yaml/experiment/corridor.yaml --factor 5

where the experiment is configured like

steps: 1000
time_step: 0.1
save_directory: ''
record_pose: true
scenario:
  type: Corridor
  length: 8.0
  width: 0.6
  groups:
    -
      type: thymio
      number: 20
      radius: 0.08
      control_period: 0.1
      speed_tolerance: 0.02
      kinematics:
        type: 2WDiff
        wheel_axis: 0.094
        max_speed: 0.166
      behavior:
        type: HL
        optimal_speed: 0.12
        horizon: 5.0
        safety_margin: 0.02
      state_estimation:
        type: Bounded
        range: 5.0
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