multi_robot_matlibplot_simulation's Introduction

multi_agent_matlibplot_sim

MPC

PID

Virtual Structure Formation Control

matlibplot simulation

How To Run

For PID

python PID_matlibplot.py

For MPC

python MPC_matlibplot.py

To save animation commnet and uncomment

            matplotrecorder.save_frame()    
    matplotrecorder.save_movie("animation.gif", 0.1)

Note: in pd_controller parameters are very sensitive. its depend on system processing speed. very hard to tune. parameter to tune if not working.

For fernet path parameter at top

# Parameter for fernet path
MAX_SPEED = 50.0 / 3.6  # maximum speed [m/s]
MAX_ACCEL = 2.0  # maximum acceleration [m/ss]
MAX_CURVATURE = 1.0  # maximum curvature [1/m]
MAX_ROAD_WIDTH = 10.0  # maximum road width [m]
D_ROAD_W = 1.0  # road width sampling length [m]
DT = 0.2  # time tick [s]
MAX_T = 5.0  # max prediction time [m]
MIN_T = 4.0  # min prediction time [m]
TARGET_SPEED = 30.0 / 3.6  # target speed [m/s]
D_T_S = 5.0 / 3.6  # target speed sampling length [m/s]
N_S_SAMPLE = 1  # sampling number of target speed
ROBOT_RADIUS = 2.5 # robot radius [m]

For pd controller in main():

# Parameter for pd control
gap = 4 #distance between each robot [m]
dt = 0.05
v_ref = 120/3.6
tm.sleep(0.1)

c_speed = 30/3.6

c_speed, dt, v_ref, tmsleep() are mutually depend on each other. Need to be tuned simultaneously

NOTE

Ferenet path planning is trajectory replanning technique.
"shortpath" abbreviation is technique using local short path slice from full global to reduce computation cost.
"shortestgap" have a technque of finding desired waypoint for follower robot at fixed distance from leader, but on the same trajectory.\

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