Configure dynamic random environment

The dynamic, random, and clutter environment is useful to test the navigation and collision avoidance algorithms. In this environment, the distribution, goal position, and geometry of the obstacles are random at each episode.

Random Obstacles Configuration Parameters

Python script:

import irsim

env = irsim.make()   

for i in range(1000):

    env.step()
    env.render(0.05)

    if env.done():
        break

env.end()

YAML File:

world:
  height: 50  # the height of the world
  width: 50   # the width of the world
  control_mode: 'keyboard'  

robot:
  - kinematics: {name: 'acker'} 
    shape: {name: 'rectangle', length: 4.6, width: 1.6, wheelbase: 3}
    state: [5, 5, 0, 0]
    goal: [40, 40, 0]
    vel_max: [4, 1]

    sensors: 
      - type: 'lidar2d'
        range_min: 0
        range_max: 20
        angle_range: 3.14
        number: 100
    
    plot:
      show_trajectory: True

obstacle:

  - number: 20
    kinematics: {name: 'omni'}
    distribution: {name: 'random', range_low: [10, 10, -3.14], range_high: [40, 40, 3.14]}
    behavior: {name: 'rvo', wander: True, range_low: [10, 10, -3.14], range_high: [40, 40, 3.14], vxmax: 2, vymax: 2, factor: 3.0}
    vel_max: [4, 4]
    vel_min: [-4, -4]
    shape:
      - {name: 'circle', radius: 1.0, random_shape: True}  
      - {name: 'polygon', random_shape: true, avg_radius_range: [0.5, 2.0], irregularity_range: [0, 0.4], spikeyness_range: [0, 0.4], num_vertices_range: [4, 6]}

The demonstration is shown in the following figure:

Important Parameters Explanation

The parameters to generate random obstacles with various shapes are the settings of behavior, distribution, and shape in the obstacle section.

• For the rvo behavior, set the wander to True to enable the random movement of the obstacles when they reach the goal position. And the rvo behavior is used to avoid the collision among obstacles. range_low and range_high are the lower and upper bounds of the random distribution of the goal position of the obstacles.

• The distribution parameter with name random is used to set the random distribution of the obstacles in a certain area. The range_low and range_high are the lower and upper bounds of the random distribution of the initial position of the obstacles.

• The shape parameter is used to set the random shape of the obstacles by setting the random_shape to True.

  • For circular obstacles, the radius will be randomly generated within radius_range.

  • For polygon obstacles, avg_radius_range, irregularity_range, num_vertices_range, and spikeyness_range define which type of polygon will be generated. See random_generate_polygon for details.

The details of the parameters are listed in the YAML Configuration

Tip

To generate a convex polygon, you can set spikeyness_range to [0, 0] or set is_convex to True.