Scientific thesis for the procurance of the degree B.Sc. from the Department of Electrical and Computer Engineering at the Technical University of Munich.
Supervised by Univ.-Prof. Dr.-Ing./Univ. Tokio habil. Martin Buss PD Dr.-Ing. Cong Li, PD Dr.-Ing. habil. Marion LeiboldChair of Automatic Control Engineering
IL-CBF_in_One_Outdoor_Scenario.mp4
Comparative_Simulation_in_One_Indoor_Scenario.mp4
IL-CBF_static_small_demo.mp4
IL-CBF_Dynamic_Obstacle.mp4
Case 1: IL-CBF in One Outdoor Scenario
roslaunch nexus_4wd_mecanum_gazebo nexus_4wd_mecanum_world1.launch
python3 pd_CBF_static.py
Case 2: Comparative Simulation in One Indoor Scenario
roslaunch nexus_4wd_mecanum_gazebo nexus_4wd_mecanum_duibi.launch
export TURTLEBOT3_MODEL=waffle_pi
source ~/.bashrc
roslaunch ros_autonomous_slam turtlebot3_world.launch
roslaunch ros_autonomous_slam autonomous_explorer.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
roslaunch ros_autonomous_slam turtlebot3_navigation.launch
python3 pd_CBF_static_duibi1.py
Case 3: IL-CBF for Static small Obstacle
roslaunch nexus_4wd_mecanum_gazebo nexus_4wd_mecanum_world.launch
python3 pd_CBF_static_small_demo.py
Case 4: IL-CBF for Dynamic Obstacle
roslaunch nexus_4wd_mecanum_gazebo nexus_4wd_mecanum_world.launch
python3 pd_CBF_dynamic1.py
python3 pd_CBF_static_dynamic_case.py
Results has been tested with
- Ubuntu 18.04/ROS Melodic
Install dependencies for reference；
master/requirements.txt
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