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path_planning_dodecagonal_arena.argos
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path_planning_dodecagonal_arena.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************************* -->
<!-- * General configuration * -->
<!-- ************************* -->
<framework>
<!--
System configuration:
- threads: the number of slave threads to parallelize the
computation. For less than 100 robots thread management is not
beneficial, so here we set it to 0. When set to 0, it means that
the computation is not parallelized: the main thread does
everything.
-->
<system threads="0" />
<!--
Experiment configuration:
- length: total experiment time in seconds (0 means the experiment
has no time limit)
- ticks_per_second: number of ticks per second (int value)
- random_seed: seed of the main random number generator. If unset
or set to zero, this value is taken from the clock and a warning
message is displayed.
-->
<experiment length="120"
ticks_per_second="10"
real_time="true"
vss_host="192.168.1.143"
vss_port="4050"
random_seed="0"
/>
</framework>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<path_planning_controller id="path"
library="/home/trackingsystem/jkuckling/argos3-tycho/devel/lib/libpathplanning.so">
<actuators>
<epuck_wheels implementation="default"/>
<epuck_base_leds implementation="default" medium="leds"/>
<epuck_rgb_leds implementation="default" medium="leds"/>
</actuators>
<sensors>
<epuck_proximity calibrated="true" implementation="default" low_level_config="/home/root/aligot/low_level_configuration/proximity_sensor.xml" show_rays="false" />
<gps_virtual_sensor implementation="default" />
<destination_virtual_sensor implementation="default"/>
</sensors>
<params placementPrecision="0.03"
anglePrecision="5"
proximitySignificativeThreshold="0.1"
proximityRepulsionForce="8"
proximityRepulsionForceNoise="4"
batteryTimeStepThreshold="30"
forceRandomWalkAfterNoUpdateFor="0">
<recharge_destination x="0.0" y="0.0" rot="0"/>
</params>
</path_planning_controller>
</controllers>
<!-- ****************** -->
<!-- * Loop functions * -->
<!-- ****************** -->
<loop_functions library="/home/trackingsystem/jkuckling/argos3-tycho/devel/lib/libsimplified_pathplanning_loop_functions.so"
label="simplified_pathplanning_loop_functions">
<pathplanning randomDistribution="true"
sharedDestination="true"
robots="20"
robotType="epuck"
timestepInPosition="0"
tickBudget="0"
minProcentPlacementBudget="0.9"
maxTimeAfterBudgetPlacement="30"
assigment="min_max_assignment_generator"
path="dijkstra_path_generator">
<!--
Section needed in randomDistribution == false
Contains user defined position.
Here is an exemple for 2 sequences and 5 robots
-->
<!--
Section needed in randomDistribution == true
Contains distribution settings.
If file with seeds is not specified, the system use random seeds
-->
<distribute>
<!-- <position max="0.8,-0.2,0" method="uniform" min="-0.8,-1,0" /> -->
<!-- <position method="uniform" min="-0.9,-1,0" max="0.9,-0.5,0" /> -->
<position method="circularUniform" center="0,0,0" radius="1.2" />
<orientation method="uniform" min="0,0,0" max="0,0,360" />
<entity max_trials="1000" />
</distribute>
</pathplanning>
</loop_functions>
<!-- *********************** -->
<!-- * Arena configuration * -->
<!-- *********************** -->
<arena size="2.5, 2.5, 1" center="0,0,0">
<floor id="floor" source="loop_functions" pixels_per_meter="50" />
<!--Dodecagonal arena with side of length .66-->
<!--box id="wall_1" size="0.01,.66,0.08" movable="false">
<body position="-1.231,0,0" orientation="0,0,0"/>
</box>
<box id="wall_2" size="0.01,.66,0.08" movable="false">
<body position="1.231,0,0" orientation="0,0,0"/>
</box>
<box id="wall_3" size="0.01,.66,0.08" movable="false">
<body position="0,1.231,0" orientation="90,0,0"/>
</box>
<box id="wall_4" size="0.01,.66,0.08" movable="false">
<body position="0,-1.231,0" orientation="90,0,0"/>
</box>
<box id="wall_5" size="0.01,.66,0.08" movable="false">
<body position="-.615,-1.066,0" orientation="60,0,0"/>
</box>
<box id="wall_6" size="0.01,.66,0.08" movable="false">
<body position="-1.066,-.615,0" orientation="30,0,0"/>
</box>
<box id="wall_7" size="0.01,.66,0.08" movable="false">
<body position=".615,1.066,0" orientation="60,0,0"/>
</box>
<box id="wall_8" size="0.01,.66,0.08" movable="false">
<body position="1.066,.615,0" orientation="30,0,0"/>
</box>
<box id="wall_9" size="0.01,.66,0.08" movable="false">
<body position="-.615,1.066,0" orientation="-60,0,0"/>
</box>
<box id="wall_10" size="0.01,.66,0.08" movable="false">
<body position="-1.066,.615,0" orientation="-30,0,0"/>
</box>
<box id="wall_11" size="0.01,.66,0.08" movable="false">
<body position=".615,-1.066,0" orientation="-60,0,0"/>
</box>
<box id="wall_12" size="0.01,.66,0.08" movable="false">
<body position="1.066,-.615,0" orientation="-30,0,0"/>
</box-->
<!--
Contains definition of robots and tags.
Here is an exemple with two robots:
- robot 50 with tag 15
- robot 58 with tag 19
epuck_tag_robot
-->
<distribute>
<position method="uniform" min="-1,-1,0" max="1,1,0" />
<orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
<entity quantity="20" max_trials="100">
<e-puck id="epuck">
<controller config="automode_fsm" />
</e-puck>
</entity>
</distribute>
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<!--
Configuration of the connection to the tracking system.
Real_experiment can be turned to false to make tests
Translate is in meters according to the corner of the arena
with the two doors.
X axis is on the length of the room
Y axis is on the width of the room
translate_x="2.58"
translate_y="4.54"
-->
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ********* -->
<!-- * Media * -->
<!-- ********* -->
<!-- Define the media you only need for your virtual sensors/actuators -->
<media >
<led id="leds" />
</media>
<!-- ****************** -->
<!-- * Visualization * -->
<!-- ****************** -->
<!--
-->
<visualization>
<qt-opengl splash="false">
<user_functions library="/home/trackingsystem/jkuckling/argos3-tycho/devel/lib/libsimplified_pathplanning_loop_functions.so"
label="pathplanning_qt_user_functions" />
<camera>
<placement idx="0" position="0.1,0,4.5" look_at="0,0,0" lens_focal_length="40" />
<placement idx="1" position="11.0602409,-1.0072,5.20828" look_at="0.0626103,-0.878381,4.21662" lens_focal_length="20" />
<placement idx="2" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="3" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="4" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="5" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="6" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="7" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="8" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="9" position="-2,0,2" look_at="0,0,0" lens_focal_length="20" />
<placement idx="10" position="-0.767635,-0.840317,0.923515" look_at="-0.767266,-0.849514,-0.0764431" lens_focal_length="20" />
</camera>
</qt-opengl>
</visualization>
</argos-configuration>