CS401 Homework 3 -Solved

Question1
Simulate the Astar algorithm depending on the given grid map. You can follow the Coding instruction to use the robotics simulator to complete this task.

Question2
Simulate a robot to achieve the collision avoidance motion with dynamic window approach(DWA). You can follow the Coding instruction to use the robotics simulator to complete this task.

Question3 - Extra Credit
Combine the astar and dwa to achieve the 5D planning under the given grid map. You can follow the Coding instruction to use the robotics simulator to complete this task

Coding instruction
Install the intelligent robotics simulator
git clone -b edu https://github.com/hanruihua/intelligent-robot-simulator.git cd intelligent-robot-simulator pip install -e . 

Note1: Please confirm that this repository is under the edu branch. You can use git branch to check current branch. If it is not under the edu branch, you can use git checkout edu to change current branch to edu branch.

Note2: The pycharm reduces the functionality of Matplotlib, which may lead to the failure of saving the gif animation. You can follow this link to solve this problem

Code for question1
There are four files for question1 in the source folder, question1.yaml, question1_run.py, Astar.py, and grid_graph.py.

 question1.yaml is the configuration file for the simulator.

question1_run.py is the main program

Astar.py is the file to perform A star algorithm. You should complete this file for the coding task. grid_graph.py is the file that defines the class about the grid map for you to use.

You should complete the file Astar.py and run question1_run.py to show the simulation results. You can set the parameter animation = True in question1_run.py to generate the gif file.

Code for question2
There are four files for question1 in the source folder, question2.yaml, question2_run.py, dwa.py, and grid_graph.py.

 question2.yaml is the configuration file for the simulator.

question2_run.py is the main program

dwa.py is the file to perform dwa algorithm. You should complete this file for the coding task.(the cost function)   grid_graph.py is the file that defines the class about the grid map for you to use.

You should complete the functions in dwa.py and run question2_run.py to show the simulation results.

You can set the parameter animation = True in question2_run.py to generate the gif file.

Code for question3
There are two main files for question3 in the source folder, question3.yaml, question3_run.py. In question3, you should utilize the file and function defined and completed the in question1 and question2 to complete the 5D planning. You should complete the function astar_cost in the file dwa.py to complete this task.

Note: All the gain arguments should be tuned for your own task.