def initialize(self):
# Set Mobile Car
self.car = KinematicModel(d=12,
wu=12,
wv=4,
car_w=18,
car_f=14,
car_r=10,
dt=0.1)
#self.car = KinematicModel()
self.car.x, self.car.y = self._search_target()
self.car.yaw = 360 * np.random.random()
self.pos = (self.car.x, self.car.y, self.car.yaw)
# Set Navigation Target
self.target = self._search_target()
self.target_dist = np.sqrt((self.car.x - self.target[0])**2 +
(self.car.y - self.target[1])**2)
target_orien = np.arctan2(self.target[1] - self.car.y, self.target[0] -
self.car.x) - np.deg2rad(self.car.yaw)
target_rel = [
self.target_dist * np.cos(target_orien),
self.target_dist * np.sin(target_orien)
]
# Initialize Measurement
self.sdata, self.plist = self.lmodel.measure_2d(self.pos)
state = self._construct_state(self.sdata, target_rel)
return state
if __name__ == "__main__":
import cv2
import path_generator
import sys
sys.path.append("../")
from wmr_model import KinematicModel
# Path
path = path_generator.path2()
img_path = np.ones((600,600,3))
for i in range(path.shape[0]-1):
cv2.line(img_path, (int(path[i,0]), int(path[i,1])), (int(path[i+1,0]), int(path[i+1,1])), (1.0,0.5,0.5), 1)
# Initialize Car
car = KinematicModel()
car.init_state((50,300,0))
start = (50,300,0)
controller = PurePursuitControl()
controller.set_path(path)
while(True):
print("\rState: "+car.state_str(), end="\t")
# ================= Control Algorithm =================
# PID Longitude Control
end_dist = np.hypot(path[-1,0]-car.x, path[-1,1]-car.y)
target_v = 40 if end_dist > 265 else 0
next_a = 0.1*(target_v - car.v)
# Pure Pursuit Lateral Control
def main():
# Parameters
N_PARTICLES = 40 # Number of Particles
N_LANDMARKS = 80 # Number of Landmarks
PERCEPTUAL_RANGE = 120 # Landmark Detection Range
MOTION_NOISE = np.array([1e-5, 1e-2, 1e-5, 1e-2, 1e-5,
1e-2]) # Motion Noise
Qt_sim = np.diag([4, np.deg2rad(4)])**2 # Observation Noise
# Create landmarks
landmarks = []
for i in range(N_LANDMARKS):
rx = np.random.randint(10, 490)
ry = np.random.randint(10, 490)
landmarks.append((rx, ry))
# Initialize environment
window_name = "Fast-SLAM Demo"
cv2.namedWindow(window_name)
img = np.ones((500, 500, 3))
init_pos = (250, 100, 0)
car = KinematicModel(motion_noise=MOTION_NOISE)
car.init_state(init_pos)
car.v = 24
car.w = np.deg2rad(10)
path_odometry = [(init_pos)]
# Create particle filter
pf = ParticleFilter((car.x, car.y, car.yaw),
Qt_sim,
MOTION_NOISE,
psize=N_PARTICLES)
while (True):
###################################
# Simulate Controlling
###################################
u = (car.v, car.w, car.dt)
car.update()
# TODO(Lab-4): Remove the comment after complete the motion model.
#'''
pos_odometry = motion_model(path_odometry[-1], u)
path_odometry.append(pos_odometry)
#'''
print("\rState: " + car.state_str() + " | Neff:" + str(pf.Neff)[0:7],
end="\t")
###################################
# Simulate Observation
###################################
rvec = np.array(landmarks) - np.array((car.x, car.y))
dist = np.hypot(rvec[:, 0], rvec[:, 1])
landmarks_id = np.where(
dist < PERCEPTUAL_RANGE)[0] # Detected Landmark ids
landmarks_detect = np.array(landmarks)[
landmarks_id] # Detected Landmarks
z = []
for i in range(landmarks_detect.shape[0]):
lm = landmarks_detect[i]
r = dist[landmarks_id[i]]
phi = np.arctan2(lm[1] - car.y, lm[0] - car.x) - car.yaw
# Add Observation Noise
r = r + np.random.randn() * Qt_sim[0, 0]**0.5
phi = phi + np.random.randn() * Qt_sim[1, 1]**0.5
phi = normalize_angle(phi)
z.append((r, phi))
###################################
# SLAM Algorithm
###################################
# TODO(Lab-0): Remove the comment after complete the class.
#'''
pf.sample(u)
pf.update(z, landmarks_id)
pf.resample()
#'''
###################################
# Render Canvas
###################################
img_ = img.copy()
# Draw landmark
for lm in landmarks:
cv2.circle(img_, lm, 3, (0.1, 0.7, 0.1), 1)
for i in range(landmarks_detect.shape[0]):
lm = landmarks_detect[i]
cv2.line(img_, (int(car.x), int(car.y)), (int(lm[0]), int(lm[1])),
(0, 1, 0), 1)
# Draw path
for i in range(N_PARTICLES):
draw_path(img_, pf.particles[i].path, 100, (1, 0.7, 0.7))
bid = np.argmax(np.array(pf.weights))
draw_path(img_, pf.particles[bid].path, 1000,
(1, 0, 0)) # Draw Best Path
draw_path(img_, path_odometry, 1000, (0, 0, 0)) # Draw Odometry Path
# Draw particle pose
for i in range(N_PARTICLES):
cv2.circle(
img_,
(int(pf.particles[i].pos[0]), int(pf.particles[i].pos[1])), 2,
(1, 0, 0), 1)
# Draw maps of particles
'''
for lm in pf.particles[i].landmarks:
lx = pf.particles[i].landmarks[lm]["mu"][0,0]
ly = pf.particles[i].landmarks[lm]["mu"][1,0]
cv2.circle(img_, (int(lx),int(ly)), 2, (1,0,0), 1)
'''
# Draw map of best particle
for lid in pf.particles[bid].landmarks:
mean = pf.particles[bid].landmarks[lid]["mu"].reshape(2)
cov = pf.particles[bid].landmarks[lid]["sig"]
draw_ellipse(img_, mean, cov, (0, 0, 1))
cv2.circle(img_, (int(car.x), int(car.y)), PERCEPTUAL_RANGE, (0, 1, 0),
1) # Draw Detect Range
img_ = car.render(img_) # Render Car
img_ = cv2.flip(img_, 0)
cv2.imshow(window_name, img_)
###################################
# Keyboard
###################################
k = cv2.waitKey(1) #1
if k == ord("w"):
car.v += 4
elif k == ord("s"):
car.v += -4
if k == ord("a"):
car.w += 5
elif k == ord("d"):
car.w += -5
elif k == ord("r"):
car.init_state(init_pos)
pf = ParticleFilter((car.x, car.y, car.yaw),
Qt_sim,
MOTION_NOISE,
psize=N_PARTICLES)
path_odometry = [(init_pos)]
print("Reset!!")
if k == 27:
print()
break
img = cv2.flip(cv2.imread("Maps/map1.png"),0)
img[img>128] = 255
img[img<=128] = 0
m = np.asarray(img)
m = cv2.cvtColor(m, cv2.COLOR_RGB2GRAY)
m = m.astype(float) / 255.
m_dilate = 1-cv2.dilate(1-m, np.ones((30,30))) # Configuration-Space
img = img.astype(float)/255.
# Lidar
sensor_size = 31
particle_size = 30
grid_size = 2
max_dist = 250
lmodel = LidarModel(m, sensor_size=sensor_size, max_dist=max_dist)
car = KinematicModel(d=9, wu=7, wv=2, car_w=16, car_f=13, car_r=7)
#car = KinematicModel(l=20, d=5, wu=5, wv=2, car_w=14, car_f=25, car_r=5)
control_type = 3
if control_type == 0:
controller = PidControl()
elif control_type == 1:
controller = PurePursuitControl(kp=0.5,Lfc=5)
elif control_type == 2:
controller = StanleyControl(kp=0.5)
else:
controller = PurePursuitControl(kp=0.5,Lfc=5)
pos = (100,200,0)
car.x = 100
car.y = 200
car.yaw = 0
def main():
window_name = "Fast-SLAM Demo"
cv2.namedWindow(window_name)
img = np.ones((500, 500, 3))
init_pos = (100, 200, 0)
lsize = 60
detect_dist = 150
psize = 30
landmarks = []
for i in range(lsize):
rx = np.random.randint(10, 490)
ry = np.random.randint(10, 490)
landmarks.append((rx, ry))
# Simulation Model
car = KinematicModel()
car.init_state(init_pos)
pf = ParticleFilter((car.x, car.y, car.yaw), psize=psize)
while (True):
###################################
# Simulate Control
###################################
u = (car.v, car.w, car.dt)
# Add Control Noise
car.v += np.random.randn() * 0.00002 * u[0]**2 + 0.00002 * u[1]**2
car.w += np.random.randn() * 0.00002 * u[0]**2 + 0.00002 * u[1]**2
car.update()
print("\rState: " + car.state_str() + "| Neff:" + str(pf.Neff),
end="\t")
###################################
# Simulate Observation
###################################
r = np.array(landmarks) - np.array((car.x, car.y))
dist = np.hypot(r[:, 0], r[:, 1])
detect_ids = np.where(dist < detect_dist)[0]
detect_lms = np.array(landmarks)[detect_ids]
obs = []
for i in range(detect_lms.shape[0]):
lm = detect_lms[i]
r = np.sqrt((car.x - lm[0])**2 + (car.y - lm[1])**2)
phi = np.rad2deg(np.arctan2(lm[1] - car.y,
lm[0] - car.x)) - car.yaw
# Add Observaation Noise
r = r + np.random.randn() * R_sim[0, 0]**0.5
phi = phi + np.random.randn() * R_sim[1, 1]**0.5
# Normalize Angle
phi = phi % 360
if phi > 180:
phi -= 360
obs.append((r, phi))
###################################
# SLAM Algorithm
###################################
pf.prediction(u)
pf.update_obs(obs, detect_ids)
pf.resample()
###################################
# Render Canvas
###################################
img_ = img.copy()
# Draw Landmark
for lm in landmarks:
cv2.circle(img_, lm, 3, (0.2, 0.5, 0.2), 1)
for i in range(detect_lms.shape[0]):
lm = detect_lms[i]
cv2.line(img_, (int(car.x), int(car.y)), (int(lm[0]), int(lm[1])),
(0, 1, 0), 1)
# Draw Trajectory
start_cut = 100
for j in range(psize):
path_size = len(pf.particles[j].path)
start = 0 if path_size < start_cut else path_size - start_cut
for i in range(start, path_size - 1):
cv2.line(img_, (int(pf.particles[j].path[i][0]),
int(pf.particles[j].path[i][1])),
(int(pf.particles[j].path[i + 1][0]),
int(pf.particles[j].path[i + 1][1])), (1, 0.7, 0.7),
1)
# Draw Best Trajectory
start_cut = 1000
bid = np.argmax(np.array(pf.weights))
path_size = len(pf.particles[bid].path)
start = 0 if path_size < start_cut else path_size - start_cut
for i in range(start, path_size - 1):
cv2.line(img_, (int(pf.particles[bid].path[i][0]),
int(pf.particles[bid].path[i][1])),
(int(pf.particles[bid].path[i + 1][0]),
int(pf.particles[bid].path[i + 1][1])), (1, 0, 0), 1)
# Draw Particle
for j in range(psize):
cv2.circle(
img_,
(int(pf.particles[j].pos[0]), int(pf.particles[j].pos[1])), 2,
(1, 0.0, 0.0), 1)
cv2.circle(img_, (int(car.x), int(car.y)), detect_dist, (0, 1, 0), 1)
# Render Car
img_ = car.render(img_)
img_ = cv2.flip(img_, 0)
cv2.imshow(window_name, img_)
###################################
# Keyboard
###################################
k = cv2.waitKey(1)
if k == ord("w"):
car.v += 4
elif k == ord("s"):
car.v += -4
if k == ord("a"):
car.w += 5
elif k == ord("d"):
car.w += -5
elif k == ord("r"):
car.init_state(init_pos)
pf.init_pf(init_pos)
print("Reset!!")
if k == 27:
print()
break
def main():
window_name = "EKF SLAM Demo"
cv2.namedWindow(window_name)
img = np.ones((500, 500, 3))
init_pos = (100, 200, 0)
landmarks = [(100, 80), (400, 100), (300, 450)]
# Simulation Model
car = KinematicModel()
car.init_state(init_pos)
#
slam = EkfSLAM()
slam.init_pos(init_pos)
pos_now = init_pos
path = [pos_now]
while (True):
car.update()
img_ = img.copy()
print("\rState: " + car.state_str(), end="\t")
# Simulate Observation
obs = []
for lm in landmarks:
r = np.sqrt((car.x - lm[0])**2 + (car.y - lm[1])**2)
phi = np.rad2deg(np.arctan2(lm[1] - car.y,
lm[0] - car.x)) - car.yaw
obs.append((r, phi))
slam.ekf_prediction(car.v, car.w, car.dt)
print(slam.x[0:3])
# Draw Landmark
for lm in landmarks:
cv2.circle(img_, lm, 3, (0.2, 0.2, 0.8), 2)
cv2.line(img_, (int(car.x), int(car.y)), lm, (0, 1, 0), 1)
# Draw Predict Path
for i in range(len(path) - 1):
cv2.line(img_, (int(path[i][0]), int(path[i][1])),
(int(path[i + 1][0]), int(path[i + 1][1])), (1, 0.5, 0.5),
1)
img_ = car.render(img_)
img_ = cv2.flip(img_, 0)
cv2.imshow(window_name, img_)
# Noise
x_noise = np.random.randn() * Q_sim[0, 0]**0.5
y_noise = np.random.randn() * Q_sim[1, 1]**0.5
yaw_noise = np.random.randn() * Q_sim[2, 2]**0.5
# Keyboard
k = cv2.waitKey(1)
car.x += x_noise
car.y += y_noise
car.yaw += yaw_noise
if k == ord("w"):
car.v += 4
elif k == ord("s"):
car.v += -4
if k == ord("a"):
car.w += 5
elif k == ord("d"):
car.w += -5
elif k == ord("r"):
car.init_state(init_pos)
nav_pos = None
path = None
print("Reset!!")
if k == 27:
print()
break
pos_now = velocity_motion_model(pos_now, car.v, car.w, car.dt)
path.append(pos_now)