-
rachelmoan authoredrachelmoan authored
10robotscircle.yaml 1.53 KiB
single_agent_planner: "RRTStar"
prediction_horizon: 2 # seconds
discretization_step: .2 # seconds
model_predictive_controller:
Q: [45, 45, 0] # state error cost for a differential drive robot
Qf: [25, 25, 0] # state final error cost for a differential drive robot
R: [10, 10] # input cost for a differential drive robot
P: [10, 10] # input rate of change cost for a differential drive robot
robot_robot_collision_weight: .5
obstacle_collision_weight: 0
print_level: 0
print_time: 0
acceptable_tol: 1.0e-4
acceptable_iter: 100
parallelize: 0
multi_robot_traj_opt:
rob_dist_weight: 50
obstacle_weight: 10
time_weight: 5
control_weight: 1
goal_weight: 5
simulator:
dt: .1
show_plots: 1
show_collision_resolution: 1
robot_starts:
- [9.5, 5.0, 0]
- [8.64, 7.65, 0]
- [6.39, 9.28, 0]
- [3.61, 9.28, 0]
- [1.36, 7.65, 0]
- [0.5, 5.0, 0]
- [1.36, 2.35, 0]
- [3.61, 0.72, 0]
- [6.39, 0.72, 0]
- [8.64, 2.35, 0]
robot_goals:
- [8.64, 2.35, 0]
- [6.39, 0.72, 0]
- [3.61, 0.72, 0]
- [1.36, 2.35, 0]
- [0.5, 5.0, 0]
- [1.36, 7.65, 0]
- [3.61, 9.28, 0]
- [6.39, 9.28, 0]
- [8.64, 7.65, 0]
- [9.5, 5.0, 0]
robot_radii:
- .5
- .5
- .5
- .5
- .5
- .5
- .5
- .5
- .5
- .5
Roomba:
max_speed: 50.0
max_acc: 30.0