Additional material related to the paper: Learning risk-mediated traversability maps in unstructured terrains navigation through robot-oriented models
The software requirements are: Matlab 2020b and CoppeliaSim dynamic simulator from CoppeliaRobotics (https://www.coppeliarobotics.com/)
Guidelines to properly use the scripts:
-How to create the datasets used for the traversability maps
- Go to ".\Create_pattern\CoppeliaSim" and open a CoppeliaSim simulation related to the robot and terrain you are interested.
- Go to ".\Create_pattern\Matlab" and choose the robot directory.
- Once selected the directory, you have to start Avvio.m
- The output pattern is called "output.mat"
-How to create the traversability maps
- Go to ".\Create_Maps" and open Genera_pattern.m. Here uncomment the terrain that you want to use and select the downsampling value.
- Set the correct input pattern for the network in ".\Create_Maps\CreaOutputRete.m" on the first line.
- Set the desired threshold value for the network in ".\Create_Maps\CreaMappe.m".
- Go to ".\Create_Maps" and start Avvio.m.
- The already available maps are stored in ".\Create_Maps\maps".
-How to find an optimal path For terrain 1 (simulations in Fig. 13).
- Go to ".\Optimal_path\terrain1" and choose a robot. Open the CoppeliaSim related to the specific robot architecture.
- Start Avvio.m in the same directory.
- The robot in CoppeliaSim will follow the imposed path. For terrain 2 (simulations in Fig. 17).
- Go to ".\Optimal_path\terrain 2\ML method" and choose a robot. Open the CoppeliaSim related to the specific robot architecture.
- Start Avvio.m in the same directory.
- The robot in CoppeliaSim will follow the imposed path. For terrain 2 (simulations in Fig. 18).
- Go to ".\Optimal_path\terrain 2\MR method" and choose a robot. Open the CoppeliaSim related to the specific robot architecture.
- Start Avvio.m in the same directory.
- The robot in CoppeliaSim will follow the imposed path.
Videos associated to simulations described on the above mentioned manuscript
1)The videos related to terrain 1 (simulations in Fig. 13) are in .\Videos\terrain1
2)The videos related to terrain 2 (simulations in Fig. 17)) are in .\Videos\terrain2\ML
3)The videos related to terrain 2 (simulations in Fig. 18)) are in .\Videos\terrain2\MR