Skip to content

add set environment variable #33

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
GithubMingEnter wants to merge 1 commit into
base: master
Choose a base branch
from
Open

add set environment variable #33

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,9 @@ If you find this repository useful in your work, please consider citing followin
This represents the implementation of the following paper:
* A. Thirugnanam, J. Zeng, K. Sreenath. "Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions." *2022 IEEE International Conference on Robotics and Automation (ICRA)*. [[arXiv]](https://arxiv.org/abs/2109.12313) [[Video]](https://youtu.be/2hKlihdERog)

set environment variable :\
`export PYTHONPATH=$PYTHONPATH:{your_dir_name}/cbf`

Run `python models/kinematic_car_test.py`. This simulates maze navigation (two maze setups) with duality-based obstacle avoidance (four robot shapes including rectangle, pentagon, triangle and l-shape) in the discrete-time domain. The animations and snapshots can be found in folder `animations` and `figures`. An example animation video can be generated as follows,

https://user-images.githubusercontent.com/27001847/147999361-faf3557a-3c87-48ab-aa3a-8830b3d565d5.mp4
Expand Down