Robot Safe Navigation in Clustered Dynamic Environments

Table of Contents

• Introduction
• Install
• Usage
• Acknowledgments

Introduction

We provide code of safe control method - Safe Set Algorithm (SSA) and test it in a crowded dynamic environment.

Install

pip install cvxopt
pip install tensorflow

Usage

python main.py --no-ssa
python main.py --ssa

• --no-ssa means that ssa is not used.
• --ssa means that ssa is used for monitoring and modifying the unsafe control.

Train the RL policy with SSA and without SSA

python rl_main.py --no-ssa
python rl_main.py --ssa

• --no-ssa means that ssa is not used.
• --ssa means that ssa is used for monitoring and modifying the unsafe control.

Acknowledgments

Part of the simulation environment code is coming from the course CS 7638: Artificial Intelligence for Robotics in GaTech. We get the permission from the lecturor Jay Summet to use this code.