2D online Robot Simulator platform for testing state-of-the-art path planning algorithms in environments with dynamic obstacles.

$ git clone https://github.com/ggldnl/Robot-Simulator
$ cd Robot-Simulator
$ conda env create -f environment.yml
$ conda activate robot_simulator

To run the application, from the main folder, simply do the following:

python application.py

This will launch a flask server; open the address on the console from a web browser to reach the web page.

Search-based Planning
├── Breadth-First Searching (BFS)
├── Depth-First Searching (DFS)
├── Best-First Searching
└── A*
Sampling-based Planning
├── RRT
├── Dynamic-RRT
└── RRT*

• [x] Strip unnecessary stuff from robot stack (e.g. sensors, motors, etc)
• [x] Rework map and remove moving obstacles. Add obstacles on mouse click instead
• [x] Add obstacles on mouse click
• [x] Redefine/Uniform websocket channels names
• [x] Fix bug with region query in Map class
• [x] Uniform query and query_region methods in Map class
• [x] Provide thread safe rtree implementation
• [x] Rework world json to use map serialization instead of plain polygons serialization
• [x] Fix bug with search algorithms and new map (seems like sampling doesn't care about obstacles)
• [x] Algorithms can't find the goal if we set it to positions outside the grid
• [x] Add missing search algorithms
• [x] Redefine world serialization
• [x] Finish left sidebar
• [x] Add another load button to left sidebar to load a custom URDF
• [x] Make the save button actually save the last map data received
• [ ] Provide multi robot support
• [ ] Fix bugs with urdf loading (robot stops moving after few steps, maybe step size)
• [ ] Find a way to specify obstacles shape (rectangle, polygon, ...)
• [ ] Find a way to choose the behavior of the map (moving/spawning obstacles)
• [ ] Fix inverted angles in link origin (URDF parser)
• [ ] Add typing and input checking
• [ ] Update documentation