Collision Avoidance Env

gym-like collision avoidance environment with ORCA

To reproduce the paper

Environment

Tested on Ubuntu 18.04 and Python 3.6+

Known dependencies

1. Optimal Reciprocal Collision Avoidance

Install

git clone [email protected]:navallo/collision_avoidance.git
cd collision_avoidance
pip install -e .

Run

run ALAN just online learning

cd collision_avoidance/ALAN
python ALAN_true.py

run ALAN with action selction

cd collision_avoidance/ALAN
python Train_ALAN_action_space.py

To Train using RL (experimental)

Known dependencies

1. OpenAI Gym (minimum install should be enough)

2. Optimal Reciprocal Collision Avoidance

3. RLlib (Ray):
   https://ray.readthedocs.io/en/latest/index.html
   please install 0.7.0 dev from wheel link
   https://ray.readthedocs.io/en/latest/installation.html#trying-snapshots-from-master

Install

git clone [email protected]:navallo/collision_avoidance.git
cd collision_avoidance
pip install -e .

Run

Training and testing:

user# cd collision_avoidance/
user# python run_rllib.py

just ORCA policy (not training):

user# cd collision_avoidance/collision_avoidance/envs/
user# python collision_avoidence_env.py

Tested with python3.7, Ubuntu 18

Reference

http://motion.cs.umn.edu/r/ActionSelection/