summary Tutorial: Road traffic in a city

• Introduction
• Robot exploration: model list

Introduction

This tutorial has for goal to present the use of GIS data and complex geometries. In particular, this tutorial shows how to load gis data, to agentify them and to use a polygon to constraint the movement of agents. All the files related to this tutorial (shapefiles and models) are available here.

The model built in this tutorial concerns the exploration of an unknown environment by a robot. Two layers of GIS data are used: a background layer (polygon) and a obstacles layer (polygons). In this model, a robot is moving inside the background, avoiding the obstacles. Its goal is to explore the space while covering the minimum distance. To achieve this goal, we propose to use a frontier-based approach: the robot is going to compute a set of candidate positions located at the frontier of the known environment, then to chose among them the one that maximises an evaluation function. In this tutorial, the evaluation function used is a simple computation of the distance between the current location of the robot and the candidate location: the closer, the better.

Robot exploration: model list

This tutorial is composed of 8 models. For each model we will present its purpose, an explicit formulation and the corresponding GAML code.

1. Loading of GIS data (background and obstacles)
2. Computation of the unkwnow environment
3. Integration of the robot agent
4. Dynamic building of the known environment
5. Use of a pathfinder for the robot movement
6. Frontier-based approach
7. Dynamic update of the pathfinder
8. Integration of a chart in the display