multi_agent_vector_fields

Circular Fields based (almost global) motion planner

Used Agents:

1. REAL_AGENT
2. GOAL_HEURISTIC
3. OBSTACLE_HEURISTIC
4. GOAL_OBSTACLE_HEURISTIC
5. VEL_HEURISTIC
6. RANDOM_AGENT

In order to run it:

git clone https://github.com/hwyao/robot_env_publisher.git for the obstacles publisher

roslaunch multi_agent_vector_fields main_demo.launch

roslaunch robot_env_publisher obstacles_publisher.launch

In order to switch between different obstacles scenarios:

Change path name of obstacles_X.yaml in main() in main.cpp and rebuild the workspace catkin_make or catkin build

obstacles_1.yaml

obstacles_2.yaml

Updated History

28.12.2024: First with Multi-agent(4) version

29.12.2024: Add launch file and twists publisher

02.01.2025: Add new agents(7) and change obstacle description

04.01.2025: Add rotational part in force attractor and combine the two parts to the twist