YAAVS: Yet Another Autonomous Vehicles Simulator

Information

YAAVS simulates the movement of autonomous vehicles inside a mine.
Robots objective is to go from their starting position to beacon area and then return to their start position.

This simulator is currently (2023) used in the Autonomous and cooperative vehicular systems course (DAT295/DIT669) at Chalmers University of Technology. See the project specifications for details.

Contents

• docs - The documentation folder
• simulator - The simulator source code
• Viewer - The Visualizer source code
• logplayer - The logplayer source code
• GUISample - Graphical robot agent (C++) source code
• robsample - robot agent (C) source code
• jClient - robot agent (Java) source code
• pClient - robot agent (Python) source code
• build - compiled files (initially empty)
• Labs - examples of labyrinths used in previous competitions
• startAll - script that runs the simulator, the visualizer and 5 GUISamples
• startSimViewer - script that runs the simulator and the Viewer

Install

The source code was compiled with gcc/g++ - Gnu Project C/C++ Compiler (gcc version 9.3.0) using the Qt libraries (release 5.12.8) on Ubuntu 22.04.

It is required to have the development version of gcc/g++, cmake, Qt libraries release 5.x installed in the system prior to compilation. On Ubuntu 22.04 run the following:

sudo apt-get install build-essential cmake qtmultimedia5-dev

Then in the repository base dir, execute:

cd build
cmake ..
make

To run the simulator, Viewer and C++ agent, execute (at the repository base dir):

./startAll

Documentation

The YAAVS introduction document is in the docs dir.

Credits

YAAVS is based on CiberRatoTools, a Robot Simulation Environment by Universidade de Aveiro / IEETA.