chasing-targets-gym

=================== Chasing Targets Gym

|version| |python| |license| |codestyle|

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Introduction

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.

.. image:: misc/example_sim.gif

Usage

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.

.. code:: python

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"),
)

Installation

Either you can clone and pip install the source, or you can install via pypi.

.. code:: bash

git clone https://github.com/5had3z/chasing-targets-gym && cd chasing-targets-gym && pip3 install -e .

Otherwise install pypi package

.. code:: bash

pip3 install chasing-targets-gym

Some Credit

I was pointed to a basic environment here <https://github.com/riiswa/planning-multi-robot-gym>_ but it didn't really match what I wanted, so I made my own based off this.