Velocity Command Generation for AMR Navigation

This repository contains the implementation of a velocity command generation system for Autonomous Mobile Robots (AMRs). The system is designed to calculate appropriate velocity commands based on the robot's current state and navigation goals.

Key Features

• Pure Python implementation without ROS dependencies
• Velocity command generation based on:
  • Current robot pose (position and orientation)
  • Target waypoint
  • Dynamic constraints (max velocity, acceleration)
• Simple and modular architecture for easy integration
• Configurable parameters for different robot kinematics

Installation

1. Clone the repository:

   git clone https://github.com/AMR-Vanguard/Velocity_command_Generation.git
   cd Velocity_command_Generation

2. Install the required dependencies:

   pip install -r requirements.txt

Usage

The main velocity command generator can be used as follows:

from velocity_generator import VelocityCommandGenerator

# Initialize with robot parameters
generator = VelocityCommandGenerator(
    max_linear_velocity=0.5,  # m/s
    max_angular_velocity=1.0,  # rad/s
    linear_acceleration=0.1,  # m/s²
    angular_acceleration=0.2   # rad/s²
)

# Generate velocity commands
current_pose = [x, y, theta]  # Current robot pose [m, m, rad]
target_waypoint = [x_goal, y_goal]  # Target position [m, m]

linear_vel, angular_vel = generator.generate_commands(current_pose, target_waypoint)

Configuration

The system can be configured by modifying the parameters in config/parameters.yaml:

robot_parameters:
  max_linear_velocity: 0.5    # Maximum linear velocity (m/s)
  max_angular_velocity: 1.0   # Maximum angular velocity (rad/s)
  linear_acceleration: 0.1    # Linear acceleration (m/s²)
  angular_acceleration: 0.2   # Angular acceleration (rad/s²)
  lookahead_distance: 0.3     # Lookahead distance for pure pursuit (m)

Examples

See the examples/ directory for complete usage examples, including:

• Basic waypoint following
• Path tracking
• Dynamic obstacle avoidance integration

Contributing

Contributions are welcome! Please open an issue or submit a pull request for any improvements or bug fixes.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Acknowledgments

• AMR Vanguard team members
• Contributors to open-source robotics algorithms