Obstacle Avoidance

This page will serve as a test bed for some tough maps to help improve the obstacle avoidance code. If you can, take some time out and create a difficult run using mapBuilder.py. Remember that the begin point should always be at the origin (0,0).

You can test out the run with the current obstacle avoidance code in SVN by running the backend and frontend, then pressing 'o' in the frontend. To return to manual control, press 'm'. Currently, it just avoids obstacles on its way to the goal point, starting from wherever it is on the map when you press 'o'. To reset at (0,0), just restart the backend.

Please rename and attach any maps you create to this page and optionally add a note here. If you find something that you think needs to be fixed ASAP, please create a ticket and put the # in your description below. Thanks!

Improved algorithm

There is a better algorithm for obstacle avoidance in an old IARC paper, where the force vector is generated by summing up the field in front or something, go look for it. (note to self)

Some difficult maps

To use one of these maps, scroll all the way to the bottom and click on 'download this map.' Then rename it to mapBuilder.map (or edit a config file.)

Mapping Software

KevinsMap?001.map

Usually collides with the row at the end of the course. Possibly add an escape() routine.

Attachments