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obstacle avoidance

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Kevin Dee
2025-12-23 14:57:13 -08:00
parent 4fa942564a
commit 8315b6c511
6 changed files with 53 additions and 9 deletions
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9
test/test_miSim.m
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@@ -503,7 +503,9 @@ classdef test_miSim < matlab.unittest.TestCase
radius = 1.5;
d = [3, 0, 0];
geometry1 = spherical;
geometry1 = geometry1.initialize(tc.domain.center - d, radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry1;
geometry1 = geometry1.initialize(tc.domain.center - d + [0, radius * 1.1, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
geometry2 = geometry2.initialize(tc.domain.center - d - [0, radius * 1.1, 0], radius, REGION_TYPE.COLLISION, sprintf("Agent %d collision volume", 1));
% Initialize agent sensor model
sensor = sigmoidSensor;
@@ -511,8 +513,9 @@ classdef test_miSim < matlab.unittest.TestCase
sensor = sensor.initialize(alphaDist, 3, NaN, NaN, 15, 3);
% Initialize agents
tc.agents = {agent};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d, zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1), false);
tc.agents = {agent; agent;};
tc.agents{1} = tc.agents{1}.initialize(tc.domain.center - d + [0, radius * 1.1, 0], zeros(1,3), 0, 0, geometry1, sensor, @gradientAscent, 3, 1, sprintf("Agent %d", 1), false);
tc.agents{2} = tc.agents{2}.initialize(tc.domain.center - d - [0, radius * 1.1, 0], zeros(1,3), 0, 0, geometry2, sensor, @gradientAscent, 3, 2, sprintf("Agent %d", 2), false);
% Initialize obstacles
obstacleLength = 1;