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‎config/controller_params/controller.yaml‎

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dwa:
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time_step: 0.1
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max_iteration: 1700
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lookahead_time: 1.5
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min_lookahead_dist: 1.0
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max_lookahead_dist: 2.5
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min_v_inc: -1.0
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max_v_inc: 1.0
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min_v: 0.0
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max_v: 0.5
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min_w_inc: -3.141592653589793
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max_w_inc: 3.141592653589793
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min_w: -1.5707963267948966
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max_w: 1.5707963267948966
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goal_dist_tol: 0.5
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rotate_tol: 0.5
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heading_weight: 0.2
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obstacle_weight: 0.1
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velocity_weight: 0.05
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predict_time: 1.5
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obstacle_inflation_radius: 1.0
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v_resolution: 0.05
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w_resolution: 0.05
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apf:
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time_step: 0.1
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max_iteration: 1700
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lookahead_time: 1.5
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min_lookahead_dist: 1.0
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max_lookahead_dist: 2.5
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min_v_inc: -1.0
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max_v_inc: 1.0
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min_v: 0.0
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max_v: 0.5
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min_w_inc: -3.141592653589793
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max_w_inc: 3.141592653589793
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min_w: -1.5707963267948966
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max_w: 1.5707963267948966
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goal_dist_tol: 0.5
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rotate_tol: 0.5
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zeta: 1.0
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eta: 1.5
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d_0: 1.5
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rpp:
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time_step: 0.1
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max_iteration: 1700
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lookahead_time: 1.5
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min_lookahead_dist: 1.0
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max_lookahead_dist: 2.5
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min_v_inc: -1.0
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max_v_inc: 1.0
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min_v: 0.0
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max_v: 0.5
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min_w_inc: -3.141592653589793
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max_w_inc: 3.141592653589793
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min_w: -1.5707963267948966
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max_w: 1.5707963267948966
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goal_dist_tol: 0.5
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rotate_tol: 0.5
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regulated_radius_min: 0.9
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scaling_dist: 0.6
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scaling_gain: 1.0
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pid:
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time_step: 0.1
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max_iteration: 1700
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lookahead_time: 1.5
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min_lookahead_dist: 1.0
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max_lookahead_dist: 2.5
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min_v_inc: -1.0
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max_v_inc: 1.0
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min_v: 0.0
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max_v: 0.5
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min_w_inc: -3.141592653589793
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max_w_inc: 3.141592653589793
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min_w: -1.5707963267948966
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max_w: 1.5707963267948966
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goal_dist_tol: 0.5
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rotate_tol: 0.5
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lqr:
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time_step: 0.1
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max_iteration: 1700
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lookahead_time: 1.5
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min_lookahead_dist: 1.0
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max_lookahead_dist: 2.5
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min_v_inc: -1.0
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max_v_inc: 1.0
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min_v: 0.0
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max_v: 0.5
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min_w_inc: -3.141592653589793
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max_w_inc: 3.141592653589793
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min_w: -1.5707963267948966
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max_w: 1.5707963267948966
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goal_dist_tol: 0.5
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rotate_tol: 0.5
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Q_diag: [1, 1, 1]
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R_diag: [1, 1]
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lqr_iterations: 100
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lqr_solve_eps: 1.e-1
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mpc:
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time_step: 0.1
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max_iteration: 1700
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lookahead_time: 1.5
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min_lookahead_dist: 1.0
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max_lookahead_dist: 2.5
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min_v_inc: -1.0
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max_v_inc: 1.0
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min_v: 0.0
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max_v: 0.5
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min_w_inc: -3.141592653589793
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max_w_inc: 3.141592653589793
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min_w: -0.78
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max_w: 1.5707963267948966
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goal_dist_tol: 0.5
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rotate_tol: 0.5
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p: 12
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m: 8
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Q_diag: [0.8, 0.8, 0.5]
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R_diag: [2, 2]

‎config/maps/warehouse.png‎

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‎config/planner_params/evolutionary_search.yaml‎

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pso:
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heuristic_type: euclidean
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# number of particles
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n_particles: 300
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# number of position points contained in each particle
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point_num: 5
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# inertial weight
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w_inertial: 1.0
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# cognitive weight
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w_cognitive: 1.0
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# social weight
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w_social: 1.0
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# The maximum velocity of particle motion
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max_speed: 6
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# maximum iterations
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max_iter: 200
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# Set the generation mode for the initial position points of the particle swarm (0 for circle and 1 for random)
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init_mode: 1
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# show process
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verbose: true

‎config/planner_params/path_planner.yaml‎

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a_star:
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heuristic_type: euclidean
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dijkstra:
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heuristic_type: euclidean
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gbfs:
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heuristic_type: euclidean
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bi_a_star:
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heuristic_type: euclidean
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theta_star:
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heuristic_type: euclidean
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lazy_theta_star:
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heuristic_type: euclidean
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s_theta_star:
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heuristic_type: euclidean
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jps:
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heuristic_type: euclidean
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voronoi:
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heuristic_type: euclidean
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# number of edges from one sampled point
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n_knn: 4
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# maximum edge length
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max_edge_len: 10.0
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# inflation range
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inflation_r: 1.0
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d_star:
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heuristic_type: euclidean
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lpa_star:
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heuristic_type: euclidean
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d_star_lite:
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heuristic_type: euclidean
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rrt:
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# Maximum expansion distance one step
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max_dist: 0.5
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# Maximum number of sample points
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sample_num: 10000
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# heuristic sample ratio for goal
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goal_sample_rate: 0.05
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# inflation bias
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delta: 0.5
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rrt_connect:
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max_dist: 0.5
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sample_num: 10000
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goal_sample_rate: 0.05
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delta: 0.5
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rrt_star:
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max_dist: 0.5
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sample_num: 10000
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goal_sample_rate: 0.05
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delta: 0.5
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# optimization radius
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r: 10
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informed_rrt:
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max_dist: 0.5
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sample_num: 2000
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goal_sample_rate: 0.05
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delta: 0.5
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r: 12

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