2D simulator for mobile robot and pedestrians simulation.
Current status is version zero proof-of-concept. Hope that we will continue active development and maintenance of the project.
- High-level applications and algorithms that require NPC behavious simulation much more than accurate physics simulation (e.g. planning, social navigation)
- Different educational purposes
- Documentation
- Support of the maps and obstacles (now only plain environments without obstacles are supported)
- Motion noise modeling support
- Keyboard control for the robot
Note: current diagram display not only current architecture, but also concepts for the future updates (see roadmap).
See examples/ directory. Available examples:
- examples/basic.py: Basic example of simulation with Headed Social Force model and simple pedestrian detector
- examples/mpc.py: An example of simple Model Predictive Control based navigation with do-mpc library
- examples/orca.py: Basic example with the usage of the ORCA model for pedestrians modeling
Following asset packs are used in the project: