To see multiple cars pick up one passenger randomly per trip, run

$ python main.py RANDOM_PICKUP

To see one car navigate around the environment randomly using a probabilistic road map, run

$ python main.py RANDOM_NAV

To see the car map its environment, run

$ python main.py MAP_ONLY

Eventually, the car will stop, and dots will appear on the screen. These dots represent the pixels in which the car believes there is an obstacle. Hit M to run K-means clustering on the dots, which will be grouped into obstacles, represented as black rectangles on the screen.

To see the car navigate repeatedly between two randomly generated end points (once with PRM and once with RRT) with the PRM visible on the screen, run

$ python main.py SHOW_PRM

Use this mode to visualize the PRM.

To combine MAP_ONLY and RANDOM_PICKUP, run

$ python main.py MAP_AND_RANDOM_PICKUP

To have multiple cars pick up multiple passengers per trip using K-means clustering to plan, run

$ python main.py CLUSTERING_PICKUP

To combine MAP_ONLY and CLUSTERING_PICKUP, run

$ python main.py MAP_AND_CLUSTERING_PICKUP

To combine MAP_ONLY and SHOW_PRM, run

$ python main.py MAP_AND_SHOW_PRM

Use this mode to see the car's PRM using its mapped environment. Note that in this case and in SHOW_PRM, the car should alternate between PRM and RRT, but will use RRT if it cannot find a path using the PRM.

To set the number of frames for which mapping runs, change the parameter of World.mapWorld in World.run in world.py.

To set the number of means for K-means in mapping, change the parameter k in the definition of MappingAgent.generateRandomMeans in car.py.

To set the number of passengers, change the numPassengers variable in World.initPassengerPickup in world.py.

To set the number of nodes in the PRM, change the PRM.size variable in PRM.py. To set the number of connections per node, change the PRM.connsPerSample variable in PRM.py.