- MATLAB (>=R2023b)
- CasAdi for MATLAB
- Apolo for any scripts under the apolo folder, as these are integrated with the simulator.
Maze Runnner can be simulated with a Apolo (3D simulator) or standalone MATLAB with fewer capabilities.
The very first thing to do is to pull up Apolo.
Opening the desired world is necessary for the MATLAB scripts to integrate with it.
The recommended Apolo world is MazeRunnerSimple.mwf.
A maze (garden) and the mobile robot should be visible and placed correctly.
At this point, MATLAB is the second part of this.
All scripts and algorithms that interact directly with Apolo are in the apolo/ directory of the project.
It leverages other modules, e.g., control, dynamics, planning; these modules can be used without Apolo.
The entry point of this simulation should be apolo_full_lines.m, which connects
everything and even shows visual plots related to the simulation.
It has several parameters but most of the default ones should work out of the box.
Standalone scripts are simulations based entirely on MATLAB. These scripts are essentially built to tests algorithms and integrations without relying on Apolo. The nonlinear MPC is mostly implemented in CasAdi so the folder downloaded from casadi/casadi release needs to be added to the MATLAB path.