Human-Like

class HLBehavior

Bases: Behavior

Human-like obstacle avoidance behavior.

The behavior inspired by how pedestrian move, has been originally presented in

Guzzi, J.; Giusti, A.; Gambardella, L.M.; Theraulaz, G.; Di Caro, G.A., “Human-friendly robot navigation in dynamic environments,” Robotics and Automation (ICRA), 2013 IEEE International Conference on, vol., no., pp.423,430, 6-10 May 2013

Registered properties:

• tau (float, tau),

• eta (float, eta),

• aperture (float, aperture),

• resolution (float, resolution),

• epsilon (float, epsilon),

• barrier_angle (float, barrier_angle)

State: GeometricState

__init__(kinematics: navground.core.Kinematics = None, radius: float = 0) → None

Contruct a new instance

Parameters:

• kinematics – The kinematics

• radius – The radius

get_collision_distance(assuming_static: bool = False, speed: float | None = None) → list[float]

Gets the free distance to collision in \([-\alpha, \alpha]\) at regular intervals.

Parameters:

• assuming_static – If True, all obstacles are assumed static.

• speed – The desired speed. Will be set to the last used target speed if not specified.

Returns:

A vector of distances of size resolution. Angles are in the agent frame.

property angular_resolution

Type:

float

Convenience method that return the size of an angular segment in \([-\alpha, \alpha]\) to search for optimal directions.

property aperture

Type:

float

The aperture \(\alpha\): desired velocity is searched on a circular sector \([-\alpha, \alpha]\).

property barrier_angle

Type:

float

The barrier angle, i.e., the minimal angle with respect to a currently virtually colliding obstacle to ignore it.

property epsilon

Type:

float

The lowest margin to an obstacle or neighbor.

any obstacles nearer than this this value will be virtually pushing away from the agent.

property eta

Type:

float

The time \(\eta\) that the behavior keeps away from collisions. higher values lead to slower speeds.

property resolution

Type:

int

The number of subdivision of \([-\alpha, \alpha]\) to search for optimal directions.

property tau

Type:

float

The relaxation time \(\tau\). higher values lead to lower accelerations.