def matlab_steering_simulation():
'''Non-linear steering simulation converted from MATLAB code.'''
# Trajectory tracking
# Fixed vehicle parameters
v = 5 # Speed
delta_max = 25 * math.pi / 180 # max steering angle
k = 2.5 # Gain
l = 0.238 # Car length
# Desired line state through 0,0 [theta]
xp = 0 # Line heading
# Initial conditions in [e psi]
x0 = np.mat([5, 0]) # translational offset
#x0 = [0 2]; # heading offset
#x0 = mat([5, 2]) # both
# Simulation time
Tmax = 3 # End point
dt = 0.001 # Time step
T = np.arange(0, Tmax, dt) # Time vector
# Simulation setup
xd = np.mat(np.zeros((len(T) - 1, 2))) # Derivative of state ([edot psidot])
x = np.mat(np.zeros((len(T), 2))) # State ([e psi])
x[0, :] = x0 # Initial condition
delta = np.mat(np.zeros((len(T), 1))) # Steering angles
p = np.mat(np.zeros((len(T), 2))) # Position in x,y plane
p[0, :] = x0[0, 0] * np.mat([np.sin(xp), np.cos(xp)]) # Initial position
for i in xrange(len(T) - 1):
# Calculate steering angle
delta[i] = max(-delta_max, min(delta_max,
x[i, 1] + np.arctan2(k * x[i, 0], v)))
# State derivatives
xd[i, 0] = v * np.sin(x[i, 1] - delta[i])
xd[i, 1] = -(v * np.sin(delta[i])) / l
# State update
x[i + 1, 0] = x[i, 0] + dt * xd[i, 0]
x[i + 1, 1] = x[i, 1] + dt * xd[i, 1]
# Position update
p[i + 1, 0] = p[i, 0] + dt * v * np.cos(x[i, 1] - delta[i] - xp)
p[i + 1, 1] = p[i, 1] + dt * v * np.sin(x[i, 1] - delta[i] - xp)
## Plotting
# Trajectory
pyplot.figure(1)
pyplot.clf()
pyplot.hold(True)
pyplot.plot([0, Tmax * v * np.cos(xp)], [0, Tmax * v * np.sin(xp)], 'b--')
pyplot.plot(x0[0, 0] * np.sin(x0[0, 1]), x0[0, 0] * np.cos(x0[0, 1]))
pyplot.plot(p[:, 0], p[:, 1], 'r')
for t in xrange(0, len(T), 300):
draw.drawbox(p[t, 0], p[t, 1], x[t, 1], .3, 1);
pyplot.xlabel('x (m)')
pyplot.ylabel('y (m)')
pyplot.axis('equal')
# Phase portrait
(e, psi) = np.meshgrid(np.arange(-10, 10.5, .5), np.arange(-3, 3.2, .2)) # Create a grid over values of e and psi
delta = np.maximum(-delta_max, np.minimum(delta_max, psi + np.arctan2(k * e, v))) # Calculate steering angle at each point
ed = v * np.sin(psi - delta) # Find crosstrack derivative
psid = -(v * np.sin(delta)) / l # Find heading derivative
psibplus = -np.arctan2(k * e[0, :], v) + delta_max # Find border of max region
psibminus = -np.arctan2(k * e[0, :], v) - delta_max # Find border of min region
pyplot.figure(2)
pyplot.clf
pyplot.hold(True)
pyplot.quiver(e, psi, ed, psid)
pyplot.plot(e[0, :], psibplus, 'r', linewidth=2)
pyplot.plot(e[0, :], psibminus, 'r', linewidth=2)
pyplot.axis([-10, 10, -3, 3])
pyplot.xlabel('e (m)')
pyplot.ylabel('\psi (rad)')
pyplot.show()
def stanley_steering_simulation(waypts):
'''Stanley steering simulation.
Args:
waypts: The waypoints in which the robot should move through.
'''
# Vehicle parameters
v = 0.4 # Speed
delta_max = 15 * math.pi / 180 # max steering angle
k = 0.25 # Gain
l = 0.238 # Car length
# Initial conditions
x0 = np.array([0, 45 * math.pi / 180, 0])
# Setup the simulation time
Tmax = 60*1.5
dt = 0.001
T = np.arange(0, Tmax, dt)
# Setup simulation
xd = np.zeros((len(T) - 1, 3)) # Derivative of state
x = np.zeros((len(T), 3)) # State
x[0, :] = x0 # Initial condition
delta = np.zeros((len(T), 1))
p = np.zeros((len(T), 2))
p[0, :] = [0, 0] # Initial position
waypt = 0
for i in xrange(len(T) - 1):
# Steering calculation
steering = controller.stanley_steering(
waypts[waypt:waypt + 3],
p[i, :],
x[i, 1],
v,
k,
)
waypt = waypt + steering['waypt']
delta[i] = max(-delta_max, min(delta_max, steering['angle']))
# PLEASE MAKE SURE THIS IS CORRECT AND ALL
# State derivatives
xd[i, 0] = v * np.sin(x[i, 1] - delta[i])
xd[i, 1] = -(v * np.sin(delta[i])) / l
# State update
x[i + 1, 0] = x[i, 0] + dt * xd[i, 0]
x[i + 1, 1] = x[i, 1] + dt * xd[i, 1]
# Position update
p[i + 1, 0] = p[i, 0] + dt * v * np.cos(x[i, 1] - delta[i])
p[i + 1, 1] = p[i, 1] + dt * v * np.sin(x[i, 1] - delta[i])
## Plotting
# Trajectory
pyplot.figure(1)
pyplot.clf()
pyplot.hold(True)
pyplot.plot(x0[0] * np.sin(x0[1]), x0[0] * np.cos(x0[1]))
pyplot.plot(p[:, 0], p[:, 1], 'r')
pyplot.plot([pt[0] for pt in waypts], [pt[1] for pt in waypts], 'go')
for t in xrange(0, len(T), 300):
draw.drawbox(p[t, 0], p[t, 1], x[t, 1], .3, 1);
pyplot.xlabel('x (m)')
pyplot.ylabel('y (m)')
pyplot.axis('equal')
pyplot.show()
def stanley_steering_simulation(waypts):
'''Stanley steering simulation.
Args:
waypts: The waypoints in which the robot should move through.
'''
# Vehicle parameters
v = 0.4 # Speed
delta_max = 15 * math.pi / 180 # max steering angle
k = 0.25 # Gain
l = 0.238 # Car length
# Initial conditions [e, psi]
x0 = np.array([0, 45 * math.pi / 180])
# Setup the simulation time
Tmax = 45 # in seconds
dt = 0.001 # time step
T = np.arange(0, Tmax, dt)
# Setup simulation
xd = np.zeros((len(T) - 1, 2)) # Derivative of state
x = np.zeros((len(T), 2)) # State
x[0, :] = x0 # Initial condition
delta = np.zeros((len(T), 1)) # Angle change
p = np.zeros((len(T), 2)) # Position
p[0, :] = [0, 0] # Initial position
waypt = 0 # Initial waypoint to travel from
for i in xrange(len(T) - 1):
# Steering calculation
steering = controller.stanley_steering(
waypts[waypt:waypt + 3],
p[i, :],
x[i, 1],
v,
k,
)
waypt = waypt + steering['waypt']
delta[i] = max(-delta_max, min(delta_max, steering['angle']))
# State derivatives
xd[i, 0] = v * np.sin(x[i, 1] - delta[i])
xd[i, 1] = -(v * np.sin(delta[i])) / l
# State update
x[i + 1, 0] = x[i, 0] + dt * xd[i, 0]
x[i + 1, 1] = x[i, 1] + dt * xd[i, 1]
# Position update
p[i + 1, 0] = p[i, 0] + dt * v * np.cos(x[i, 1] - delta[i])
p[i + 1, 1] = p[i, 1] + dt * v * np.sin(x[i, 1] - delta[i])
## Plotting
# Trajectory
# Setup trajectory plot
pyplot.figure(1)
pyplot.clf()
pyplot.hold(True)
pyplot.xlabel('x (m)')
pyplot.ylabel('y (m)')
pyplot.axis('equal')
# Plot trajectory
pyplot.plot(x0[0] * np.sin(x0[1]), x0[0] * np.cos(x0[1]))
pyplot.plot(p[:, 0], p[:, 1], 'r')
pyplot.plot([pt[0] for pt in waypts], [pt[1] for pt in waypts], 'go')
for t in xrange(0, len(T), 300):
draw.drawbox(p[t, 0], p[t, 1], x[t, 1], .3, 1);
# Phase portrait
# Create a grid over values of e and psi
e, psi = np.meshgrid(np.arange(-10, 10, .5), np.arange(-3, 3, .2))
# Calculate steering angle at each point
delta = np.maximum(-delta_max,
np.minimum(delta_max, psi + np.arctan2(k * e, v)))
ed = v * np.sin(psi - delta) # Find crosstrack derivative
psid = -(v * np.sin(delta)) / l # Find heading derivative
# Find border of max region
psibplus = -np.arctan2(k * e[0, :], v) + delta_max
# Find border of min region
psibminus = -np.arctan2(k * e[0, :], v) - delta_max
# Setup phase portrait plot
pyplot.figure(2)
pyplot.clf()
pyplot.hold(True)
pyplot.axis([-10, 10, -3, 3])
pyplot.xlabel('e (m)')
pyplot.ylabel('\psi (rad)')
# Plot phase portrait
pyplot.quiver(e, psi, ed, psid)
pyplot.plot(e[0, :], psibplus, 'r', linewidth=2)
pyplot.plot(e[0, :], psibminus, 'r', linewidth=2)
pyplot.show()
