CollisionAvoidance

Multi-Robot Collision Avoidance using Reinforcement Learning

Dependencies

• ROS Kinetic

• Stage-ros

  • with pose subscriber (for teleportation) (https://github.com/ros-simulation/stage_ros/tree/add_pose_sub)
  • with modification to publish collision info (https://answers.ros.org/question/65686/detect-collision-stage/)

• Python 2.7

• tensorflow

• numpy

How to run

Start ROS roscore

Run simple RL controller (will start simulation too): roslaunch collision_avoidance rl_controller.launch

Test a trained model roslaunch collision_avoidance test_trained_model

Start simulation alone: rosrun stage_ros stageros [worldfile]

Teleoperate robot: rosrun collision_avoidance teleop.py

Run super-simple autonomy: python collision_avoidance naive_controller.py