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replaced stagectrl README

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1 parent 7955300 commit bad32284cd8636de83b4773bd2313fd9dbd446b9 @rtv committed
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  1. +13 −14 README
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27 README
@@ -1,12 +1,14 @@
-stagectrl README
+stg.idw README
------------------------
-A minimal controller for Stage, to give a template for building your own controllers.
+** NOTE: this code in development and should not be used for anything at all. It probably does not work. These instructions are probably wrong. **
- - rtv (vaughan@sfu.ca) 2001.10.20
+An implementation of the Improved Dynamic Window Approach for local obstacle avoidance, based on [Berti et al 2008].
- Instructions
+ - rtv (vaughan@sfu.ca) 2011.12.29
+
+Instructions
----------------
Assuming Stage is working in your environment (see notes below), you should be able to
@@ -19,7 +21,7 @@ If you see errors, read the notes below on setting up your environment.
$ make
-Check to see that the module "basic.so" has been built successfully
+Check to see that the module "dw.so" has been built successfully
into the current directory. If not, carefully read the build output to
see what went wrong.
@@ -27,18 +29,15 @@ Tell Stage to look in the current directory for controller modules
$ export STAGEPATH=.
-Now run Stage with the minimal example world.
-
-$ stage basic.world
+Now run Stage with the test world:
-You should see a world containing one default model, which is running
-the basic controller which prints a message on the console and in the
-Stage window.
+$ stage worlds/dw.world
-To write your own controller, edit the C++ source file basic.cc. If
-you add more source files, you must add them to CMakeLists.txt.
-Please let me know of any errors or ommisions. Enjoy writing Stage controllers.
+References
+----------
+[Berti et al 2008] IMPROVED DYNAMIC WINDOW APPROACH BY USING LYAPUNOV STABILITY CRITERIA.
+ H. BERTI, A.D. SAPPA and O.E. AGAMENNONI. Journal of Latin American Applied Research 38:289-298 (2008)
Notes on setting up your environment

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