This repository has been created for the project of the master course "Planning and Decision Making for Autonomous Robots" with Prof. Emilio Frazzoli. The project's goal is to guide each agent (vehicle) to a designated area by first generating the path, then controlling the agent, and finally avoiding both static obstacles and other agents.
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State:
$x=\begin{bmatrix} p_{1} & p_{2} & \theta \end{bmatrix}$ -
Inputs:
$u=\begin{bmatrix} v_{r} & \omega \end{bmatrix}$ -
Dynamics:
$\dot{p_{1}}=v_{r}(t)cos(\theta(t))$
$\dot{p_{2}}=v_{r}(t)sin(\theta(t))$
$\dot{\theta }=\frac{v_{r}(t)}{b}tant(\omega (t))$
- Path planning: RRT*
- Control: PID
- Other agents detection: LIDAR
- Dynamic avoidance: New path generation around the other agent