Corridor with obstacle

Corridor with obstacle#

In a serie of two notebooks, we look at a simple but more interesting scenario than Empty environment.

In the first notebook, we explore the scenario defined as

type: CorridorWithObstacle
length: 1.0
width: 1.0
min_radius: 0.2
max_radius: 0.2
groups:
  -
    type: thymio
    number: 1
    radius: 0.08
    control_period: 0.05
    color: firebrick
    kinematics:
      type: 2WDiff
      wheel_axis: 0.094
      max_speed: 0.12
    behavior:
      type: HL
      optimal_speed: 0.12
      horizon: 10
      tau: 0.25
      eta: 0.5
      safety_margin: 0.05
      barrier_angle: 1.0
    state_estimation:
      type: Bounded
      range: 1.0
      update_static_obstacles: true

where one agent wants to travel along a corridor with constant speed, avoiding the single obtacle. We also get familiar with the inputs/outputs spaces of the models, which we train in the second notebook, to navigate using a combination of two sensors

type: Combination
sensors:
  - type: Boundary
    min_y: 0
    max_y: 1
    range: 1
  - type: Discs
    number: 1
    range: 1
    max_speed: 0.0
    max_radius: 0.0
    include_valid: false

to detect the obstacle and the corridor walls.