Skip to content

Latest commit

 

History

History
69 lines (51 loc) · 2.91 KB

readme.md

File metadata and controls

69 lines (51 loc) · 2.91 KB
Raw

DIS project code

Teamwork

  • Group ID: 13
  • Localization: Nicola Santacroce (286331)
  • High-level control
    • Flocking: Qi Yan (307457)
    • Formation: Yujie He (321657)
    • PSO: Jianhao Zheng (323146)

Getting started

  • gsl library is required for matrix computation. To install at Ubuntu:

    sudo apt-get install libgsl-dev

  • Code structure

    ├── controller_world                        # Main code
│   ├── controllers                         # Controllers
│   │   ├── flocking_crossing_controller	
│   │   ├── flocking_obstacle_controller
│   │   ├── formation_graph_crossing_controller
│   │   ├── formation_graph_obstacle_controller
│   │   └── supervisor						
│   └── worlds                              # Default testing world
├── localization_library                    # Shared localization utilities
├── Matlab                                  # Visualization utilities
│   ├── localization                        # Localization result visualization
│   └── metric_computation                  # Flocking result visualization
└── supplemental                            # Supplemental code, *not* necessary for metrics evaluation
    ├── controllers
    │   ├── crossing_pso_controller         # PSO
    │   ├── obstacle_pso_controller         # PSO
    │   ├── pso_crossing_supervisor         # PSO
    │   ├── pso_obstacle_supervisor         # PSO
    │   ├── localization_controller         # Localization
    │   └── localization_supervisor         # Localization
    └── worlds                              # Ad-hoc worlds

Modification of webots world

  • /controller_world/worlds/test_obstacles.wbt: The supervisor name need to be modified to super0
  • /controller_world/worlds/test_crossing.wbt: None

Run supervisor

  • set controller of each supervisor to be supervisor (same for both two scenarios)
  • metric at each time step will be saved in flocking_metrics0.csv (the number depends on which group)
  • copy the data and run Matlab/metric_computation/cal_single_avg_metric.m in MATLAB will compute the average metric along the duration time.

Flocking controllers

  • /controller_world/worlds/test_obstacles.wbt: set all robot controllers to be flocking_obstacle_controller.
  • /controller_world/worlds/test_crossing.wbt: set all robot controllers to be flocking_crossing_controller.

Formation controllers

  • The usage is similar to the flocking controllers.

PSO

  • If you are interested, you can open the world in "test_crossing_pso.wbt" and "test_obstacles_pso.wbt" in the "supplemental/worlds" folder. No modification is necessary for the world, just compile the controller and you can run the simulation to start PSO.