Multiple vehicle Collision Avoidance simulation [Swarm robotics]

[Patricia Ferreiro Alonso]

Hello everyone,

I'm trying to simulate a robot swarm with various instances of the "Vehicle" class in order to further implement Kalman Filter.

In other words, by following the example provided in the Toolbox:

V = diag([0.5, 1.2*pi/180].^2);

veh = Vehicle(V);

veh.add_driver( RandomPath(10) );

map = Map(33, 10);

W = diag([0.6, 1*pi/180].^2);

sensor = RangeBearingSensor(veh, map, W, 'animate');

L = diag([0.1 0.1]);

Q = diag([0.1, 0.1, 1*pi/180]).^2;

pf = ParticleFilter(veh, sensor, Q, L, 1000);

pf.run(500);

clf; map.plot()

veh.plot_xy('b');

pf.plot_xy('r');

I would like to change the static obstacles for other moving Vehicles. Is that possible?

Thanks in advance.

Kind regards,

Patricia