This is a simple gym environment that sets up a set of robots and targets for them to chase. These targets are dumb, they simply move at a constant speed and bounce off the "limits" of the simulation environment. The intention is that the robots will chase after these targets, and switch to a new target after catching their current one. The targets are "transparent" and robots are free to ignore "avoiding them", the intention is that they avoid each other. An example of a simulation with robot controller is shown below.
Since this uses the gymnasium, you can spin an environment up same as any other env, and you can use our optimized planner. A script is included that shows of this planner and environment when you install this library `chasing-targets-example --max-step=500`.
from gymnasium import Env, make
from chasing_targets_gym.planner import Planner
env: Env = make(
"ChasingTargets-v0",
render_mode="human",
n_robots=10,
n_targets=3,
robot_radius=0.1,
max_velocity=0.5,
target_velocity_std=0.5,
max_episode_steps=1000,
)
planner = Planner(
env.get_wrapper_attr("robot_radius"),
env.get_wrapper_attr("dt"),
env.get_wrapper_attr("max_velocity"),
)Either you can clone and pip install the source, or you can install via pypi.
git clone https://github.com/5had3z/chasing-targets-gym && cd chasing-targets-gym && pip3 install -e .Otherwise install pypi package
pip3 install chasing-targets-gymI was pointed to a basic environment here but it didn't really match what I wanted, so I made my own based off this.