[FMS] Implement collision avoidance for multiple robots - Githubissues

amosproj / amos2022ss03-turtlebot-fleet-management

MIT License

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[FMS] Implement collision avoidance for multiple robots #99

Open Jonas-Petersen opened 2 years ago

Jonas-Petersen commented 2 years ago

User story

As a SD
I want / need to implement the collsion avoidance with help of base and horizon
So that we can have multiple turtlebots on the course without collisions

Maybe use base and horizon as Jörg mentioned

Acceptance criteria

Multiple turtlebots on course
Collision avoidance from robots
Put robots in order according to their importance

Definition of done (DoD)

Linter & Checker were performed and passed
Code Review has been completed
Code was merged in sprint release candidate
Updates are written in issue comments
Feature builds and tests successfully
Acceptance by product owner
User Story & Acceptance Criteria fulfilled

DoD general criteria

Feature has been fully implemented
Feature has been merged into the mainline
All acceptance criteria were met
Product owner approved features
All tests are passing
Developers agreed to release

cat24max commented 2 years ago

We technically now support multiple robots without collision, but the algorithm is not very smart or efficient. If the paths of 2 orders collide, one has to wait completely. The entire path is locked at once.