Robot Simulator

2D online Robot Simulator platform for testing state-of-the-art path planning algorithms in environments with dynamic obstacles.

Installation

$ git clone https://github.com/ggldnl/Robot-Simulator
$ cd Robot-Simulator
$ conda env create -f environment.yml
$ conda activate robot_simulator

How to run

To run the application, from the main folder, simply do the following:

python application.py

This will launch a flask server; open the address on the console from a web browser to reach the web page.

Algorithms

Search-based Planning
├── Best-First Searching
├── Breadth-First Searching (BFS)
├── Depth-First Searching (DFS)
├── A*
└── Dynamic A*

Sampling-based Planning
├── RRT
├── RRT *
├── Dynamic-RRT
└── Informed RRT*

TODO

• Strip unnecessary stuff from robot stack (e.g. sensors, motors, etc)
• Rework map and remove moving obstacles. Add obstacles on mouse click instead
• Add obstacles on mouse click
• Redefine/Uniform websocket channels names
• Fix bug with region query in Map class
• Uniform query and query_region methods in Map class
• Provide thread safe rtree implementation
• Rework world json to use map serialization instead of plain polygons serialization
• Fix bug with search algorithms and new map (seems like sampling doesn't care about obstacles)
• Algorithms can't find the goal if we set it to positions outside the grid
• Add missing search algorithms
• Redefine world serialization
• Finish left sidebar
• Add another load button to left sidebar to load a custom URDF
• Make the save button actually save the last map data received
• Provide multi robot support
• Fix bugs with urdf loading (robot stops moving after few steps, maybe step size)
• Find a way to specify obstacles shape (rectangle, polygon, ...)
• Find a way to choose the behavior of the map (moving/spawning obstacles)
• Fix inverted angles in link origin (URDF parser)
• Add typing and input checking
• Update documentation