-
Notifications
You must be signed in to change notification settings - Fork 52
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
13 changed files
with
256 additions
and
42 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -2,6 +2,7 @@ | |
| __pycache__/ | ||
| build/ | ||
| devel/ | ||
| video/ | ||
|
|
||
| # local env files | ||
| .env.local | ||
|
|
||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,192 @@ | ||
| function [pose, traj, flag] = apf_plan(start, goal, varargin) | ||
| %% | ||
| % @file: apf_plan.m | ||
| % @breif: Artificial Potential Field motion planning | ||
| % @paper: The Artificial Potential Field to Collision Avoidance | ||
| % @author: Winter | ||
| % @update: 2023.10.24 | ||
|
|
||
| %% | ||
| p = inputParser; | ||
| addParameter(p, 'path', "none"); | ||
| addParameter(p, 'map', "none"); | ||
| parse(p, varargin{:}); | ||
|
|
||
| if isstring(p.Results.path) || isstring(p.Results.map) | ||
| exception = MException('MyErr:InvalidInput', 'parameter `path` or `map` must be set.'); | ||
| throw(exception); | ||
| end | ||
|
|
||
| % path | ||
| path = flipud(p.Results.path); | ||
| path_length = size(path, 1); | ||
| plan_idx = 1; | ||
|
|
||
| % map | ||
| map = p.Results.map; | ||
|
|
||
| % obstacle | ||
| [m, ~] = size(map); | ||
| obs_index = find(map==2); | ||
| obstacle = [mod(obs_index - 1, m) + 1, fix((obs_index - 1) / m) + 1]; | ||
|
|
||
| % initial robotic state | ||
| robot.x = start(1); | ||
| robot.y = start(2); | ||
| robot.theta = start(3); | ||
| robot.v = 0; | ||
| robot.w = 0; | ||
| max_v = 0.4; | ||
|
|
||
| % parameters | ||
| zeta = 1.0; | ||
| eta = 0.8; | ||
| d_0 = 1.5; | ||
|
|
||
| dt = 0.1; | ||
| p_window = 0.5; | ||
| p_precision = 0.5; | ||
| o_precision = pi / 4; | ||
| e_v_ = 0; i_v_ = 0; | ||
| e_w_ = 0; i_w_ = 0; | ||
| max_iter = 1000; | ||
|
|
||
| % return value | ||
| flag = false; | ||
| pose = []; | ||
| traj = []; | ||
|
|
||
| iter = 0; | ||
| % main loop | ||
| while (1) | ||
| iter = iter + 1; | ||
| if (iter > max_iter) | ||
| break; | ||
| end | ||
|
|
||
| % break until goal reached | ||
| if (norm([robot.x, robot.y] - goal(:, 1:2)) < p_precision) | ||
| flag = true; | ||
| break; | ||
| end | ||
|
|
||
| % compute the tatget pose and force at the current step | ||
| rep_force = getRepulsiveForce([robot.x, robot.y], obstacle, d_0); | ||
| while (plan_idx <= path_length) | ||
| tgt_pos = path(plan_idx, :); | ||
| attr_force = getAttractiveForce([robot.x, robot.y], tgt_pos); | ||
| net_force = zeta * attr_force + eta * rep_force; | ||
|
|
||
| % in body frame | ||
| b_x_d = path(plan_idx, 1) - robot.x; | ||
| b_y_d = path(plan_idx, 2) - robot.y; | ||
|
|
||
| if (norm([b_x_d, b_y_d]) > p_window) | ||
| break; | ||
| end | ||
| plan_idx = plan_idx + 1; | ||
| end | ||
|
|
||
| new_v = [robot.v * cos(robot.theta), robot.v * sin(robot.theta)] + net_force; | ||
| new_v = new_v ./ norm(new_v); | ||
| new_v = new_v .* max_v; | ||
|
|
||
| theta_d = atan2(new_v(2), new_v(1)); | ||
|
|
||
| % calculate velocity command | ||
| if (norm([robot.x, robot.y] - goal(:, 1:2)) < p_precision) | ||
| if (abs(robot.theta - goal(3)) < o_precision) | ||
| u = [0, 0]; | ||
| else | ||
| [w, e_w_, i_w_] = angularController(robot, goal(3), dt, e_w_, i_w_); | ||
| u = [0, w]; | ||
| end | ||
| elseif (abs(theta_d - robot.theta) > pi / 2) | ||
| [w, e_w_, i_w_] = angularController(robot, theta_d, dt, e_w_, i_w_); | ||
| u = [0, w]; | ||
| else | ||
| [v, e_v_, i_v_] = linearController(robot, norm(new_v), dt, e_v_, i_v_); | ||
| [w, e_w_, i_w_] = angularController(robot, theta_d, dt, e_w_, i_w_); | ||
| u = [v, w]; | ||
| end | ||
|
|
||
| % input into robotic kinematic | ||
| robot = f(robot, u, dt); | ||
| pose = [pose; robot.x, robot.y, robot.theta]; | ||
| end | ||
| end | ||
|
|
||
| %% | ||
| function attr_force = getAttractiveForce(cur_pos, tgt_pos) | ||
| attr_force = tgt_pos - cur_pos; | ||
| if ~all(attr_force == 0) | ||
| attr_force = attr_force ./ norm(attr_force); | ||
| end | ||
| end | ||
|
|
||
| function rep_force = getRepulsiveForce(cur_pos, obstacle, d_0) | ||
| D = dist(obstacle, cur_pos'); | ||
| rep_force = (1 ./ D - 1 / d_0) .* (1 ./ D) .^ 2 .* (cur_pos - obstacle); | ||
| valid_mask = (1 ./ D - 1 / d_0) > 0; | ||
| rep_force = sum(rep_force(valid_mask, :), 1); | ||
|
|
||
| if ~all(rep_force == 0) | ||
| rep_force = rep_force ./ norm(rep_force); | ||
| end | ||
| end | ||
|
|
||
| function [v, e_v_, i_v_] = linearController(robot, v_d, dt, e_v_, i_v_) | ||
| e_v = v_d - robot.v; | ||
| i_v_ = i_v_ + e_v * dt; | ||
| d_v = (e_v - e_v_) / dt; | ||
| e_v_ = e_v; | ||
|
|
||
| k_v_p = 1.00; | ||
| k_v_i = 0.00; | ||
| k_v_d = 0.00; | ||
| v_inc = k_v_p * e_v_ + k_v_i * i_v_ + k_v_d * d_v; | ||
|
|
||
| v = robot.v + v_inc; | ||
| end | ||
|
|
||
| function [w, e_w_, i_w_] = angularController(robot, theta_d, dt, e_w_, i_w_) | ||
| e_theta = theta_d - robot.theta; | ||
| if (e_theta > pi) | ||
| e_theta = e_theta - 2 * pi; | ||
| elseif (e_theta < -pi) | ||
| e_theta = e_theta + 2 * pi; | ||
| end | ||
|
|
||
| w_d = e_theta / dt / 10; | ||
| e_w = w_d - robot.w; | ||
| i_w_ = i_w_ + e_w * dt; | ||
| d_w = (e_w - e_w_) / dt; | ||
| e_w_ = e_w; | ||
|
|
||
| k_w_p = 1.00; | ||
| k_w_i = 0.00; | ||
| k_w_d = 0.01; | ||
| w_inc = k_w_p * e_w_ + k_w_i * i_w_ + k_w_d * d_w; | ||
|
|
||
| w = robot.w + w_inc; | ||
| end | ||
|
|
||
| function robot = f(robot, u, dt) | ||
| %@breif: robotic kinematic | ||
| F = [ 1 0 0 0 0 | ||
| 0 1 0 0 0 | ||
| 0 0 1 0 0 | ||
| 0 0 0 0 0 | ||
| 0 0 0 0 0]; | ||
|
|
||
| B = [dt * cos(robot.theta) 0 | ||
| dt * sin(robot.theta) 0 | ||
| 0 dt | ||
| 1 0 | ||
| 0 1]; | ||
|
|
||
| x = [robot.x; robot.y; robot.theta; robot.v; robot.w]; | ||
| x_star = F * x + B * u'; | ||
| robot.x = x_star(1); robot.y = x_star(2); robot.theta = x_star(3); | ||
| robot.v = x_star(4); robot.w = x_star(5); | ||
| end |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
17 changes: 11 additions & 6 deletions
17
utils/animation/animation_dwa.m → utils/animation/animation.m
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file was deleted.
Oops, something went wrong.