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replaced stagectrl README

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1 parent 7955300 commit bad32284cd8636de83b4773bd2313fd9dbd446b9 @rtv committed Dec 29, 2011
Showing with 13 additions and 14 deletions.
  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
@@ -19,26 +21,23 @@ 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.
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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