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moving duckiebots controller updated to handle other moving bots #192

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moving duckiebots controller updated to handle other moving bots #192

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6cb87fc
moving duckiebots controller updated to handle other moving bots
mostafaelaraby Jan 3, 2020
88fe863
updated Readme
mostafaelaraby Feb 12, 2020
4bf7e35
Merge remote-tracking branch 'upstream/master'
mostafaelaraby Oct 31, 2020
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16 changes: 14 additions & 2 deletions gym_duckietown/objects.py
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Original file line number Diff line number Diff line change
Expand Up @@ -130,15 +130,17 @@ def __init__(self, obj, domain_rand, safety_radius_mult, wheel_dist,
self.robot_width = robot_width
self.robot_length = robot_length

# Robot Safety circle radius
self.agent_safety_rad = (max(robot_length, robot_width) / 2) * safety_radius_mult

# FIXME: this does not follow the same signature as WorldOb
def step(self, delta_time, closest_curve_point, objects):
"""
Take a step, implemented as a PID controller
"""

# Find the curve point closest to the agent, and the tangent at that point
closest_point, closest_tangent = closest_curve_point(self.pos, self.angle)

closest_point, closest_tangent = closest_curve_point(self.pos, self.angle)
iterations = 0

lookup_distance = self.follow_dist
Expand All @@ -163,6 +165,16 @@ def step(self, delta_time, closest_curve_point, objects):
dot = np.dot(self.get_right_vec(self.angle), point_vec)
steering = self.gain * -dot

# checking for other moving duckiebots to slow down if another bot is moving in front
for obj in objects:
if not obj.static and obj.kind == "duckiebot":
if abs(obj.pos[0] - self.pos[0]) <0.12: # to check if this object is on my same lane
collision_penalty = abs(obj.proximity(self.pos, self.agent_safety_rad))
if collision_penalty > 0 :
# this means we are approaching and we need to slow down
self.velocity *= collision_penalty
break

self._update_pos([self.velocity, steering], delta_time)

def get_dir_vec(self, angle):
Expand Down