This is a simulation environment with a graphical user interface that contains the implementations of the STAA*, DWA, and a PD controllers for nonholonomic agents and also the Minimal Construct path planning algorithm. It is based on Qt the framework for the graphical user interface and uses the Box2D physics engine (https://box2d.org) for simulating the motion of the vehicles. The concepts of the motion planning embedded into this software release are explained in the accompanying paper https://arxiv.org/pdf/2109.07775.pdf.

After cloning the project, change into the root directory of the project and type:

qmake make ./SpaceTaxi

This should compile and open the main window of the simulator. Press enter to start the simulation.

For the compilation to work, you need to have following packages installed (tested on Ubuntu 18.04.6 LTS): qt5-default, libpolyclipping22 and libpolyclipping-dev, libopencv-core3.2 and libopencv-imgproc3.2, libgl1-mesa-dev and libglew Install all packages that are reported missing during compilation.

QtCreator is recommended for browsing the source code and editing the project. In File -> "Open File or Project", open the SpaceTaxi.pro file and QtCreator will load the project. Point the build directory either to the root of the project, or make sure to copy conf/config.conf and styles.css next to the executable if you want to compile in a separate build directory.

A good starting point to explore the source code is the step() function of World.cpp where the agent control functions and the physical simulation are stepped.