def generate_scenario_singlefire_singleuav():
# 9 by 7 km area
area = Area(480060.0, 489060.0, 6210074.0, 6217074.0)
uav_speed = 18. # m/s
uav_max_pitch_angle = 6. / 180. * np.pi
uav_max_turn_rate = 32. * np.pi / 180 / 2 # Consider a more conservative turn rate
uav_bases = [Waypoint(area.xmin + 100, area.ymin + 100, 0, 0)]
wind_speed = 15.
wind_dir = 0.
num_ignitions = 1
ignitions = [
TimedPoint(random.uniform(area.xmin, area.xmax),
random.uniform(area.ymin, area.ymax),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = 1
flights = []
for i in range(num_flights):
uav_start = random.uniform(start, start + 4000.)
max_flight_time = random.uniform(1000, 1500)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
def generate_scenario_big_fire():
"""A dozen UAVs monitoring a dozen fires"""
# 9 by 7 km area
area = Area(532000.0, 540000.0, 4567000.0, 4575000.0)
uav_speed = 18. # m/s
uav_max_pitch_angle = 6. / 180. * np.pi
uav_max_turn_rate = 32. * np.pi / 180
uav_bases = [ # four corners of the map
Waypoint(area.xmin + 100, area.ymin + 100, 0, 0),
Waypoint(area.xmin + 100, area.ymax - 100, 0, 0),
Waypoint(area.xmax - 100, area.ymin + 100, 0, 0),
Waypoint(area.xmax - 100, area.ymax - 100, 0, 0)
]
wind_speed = random.uniform(1., 2.) # wind speed in [10,20] km/h
wind_dir = random.random() * 2 * np.pi
num_ignitions = random.randint(1, 1)
# Calculate a safe area for the ignitions
allowed_range_x = (area.xmax - area.xmin) * 0.25
allowed_range_y = (area.ymax - area.ymin) * 0.25
ignitions = [
TimedPoint(
random.uniform(area.xmin + allowed_range_x,
area.xmax - allowed_range_x),
random.uniform(area.ymin + allowed_range_y,
area.ymax - allowed_range_y), random.uniform(0, 0))
for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = random.randint(1, 5)
flights = []
for i in range(num_flights):
uav_start = random.uniform(start + 50000., start + 50000.)
max_flight_time = random.uniform(500, 1200)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
def generate_scenario_newsletter():
# 9 by 7 km area
area = Area(545000.0, 548000.0, 6211000.0, 6214000.0)
uav_max_pitch_angle = 6. / 180. * np.pi # aka gamma_max=0.11rad for 2m/s rate of climb and 18m/s cruise air speed
uav_speed = 18. # m/s
uav_max_turn_rate = 32. * np.pi / 180 / 2 # Consider a more conservative turn rate
uav_bases = [Waypoint(area.xmin + 100, area.ymax - 100, 100., 0.)]
num_ignitions = 1
wind_speed = random.choice([
10.,
]) # 18 km/h, 36 km/h, 54 km/h, 72 km/h
wind_dir = random.choice([
np.pi / 4,
])
area_range = (area.xmax - area.xmin, area.ymax - area.ymin)
ignitions = [
TimedPoint(
random.uniform(area.xmin + area_range[0] * .2,
area.xmax - area_range[0] * .4),
random.uniform(area.ymin + area_range[1] * .4,
area.ymax - area_range[1] * .6),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = 1
flights = []
for i in range(num_flights):
uav_start = start + 3000
max_flight_time = 450
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
def scenario_a():
# 9 by 7 km area
area = Area(532000.0, 540000.0, 4567000.0, 4575000.0)
uav_speed = 18. # m/s
uav_max_pitch_angle = 6. / 180. * np.pi
uav_max_turn_rate = 32. * np.pi / 180
uav_bases = [ # four corners of the map
Waypoint(area.xmin + 100, area.ymin + 100, 0, 0),
Waypoint(area.xmin + 100, area.ymax - 100, 0, 0),
Waypoint(area.xmax - 100, area.ymin + 100, 0, 0),
Waypoint(area.xmax - 100, area.ymax - 100, 0, 0)
]
wind_speed = 15. # random.uniform(10., 20.) # wind speed in [10,20] km/h
wind_dir = 0. # random.random() * 2 * np.pi
num_ignitions = random.randint(1, 3)
ignitions = [
TimedPoint(random.uniform(area.xmin, area.xmax),
random.uniform(area.ymin, area.ymax),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = random.randint(1, 3)
flights = []
for i in range(num_flights):
uav_start = random.uniform(start, start + 4000.)
max_flight_time = random.uniform(500, 1200)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
def generate_scenario_utility_test():
# 2 by 2 km area
area = Area(480060.0, 482060.0, 6210074.0, 6212074.0)
uav_max_pitch_angle = 6. / 180. * np.pi # aka gamma_max=0.11rad for 2m/s rate of climb and 18m/s cruise air speed
uav_speed = 18. # m/s
uav_max_turn_rate = 32. * np.pi / 180 / 2 # Consider a more conservative turn rate
uav_bases = [Waypoint(area.xmin + 100, area.ymin + 100, 0., 0.)]
num_ignitions = 1
wind_speed = random.choice([5., 10., 15.,
20.]) # 18 km/h, 36 km/h, 54 km/h, 72 km/h
wind_dir = random.choice([0., np.pi / 2, np.pi, 3 * np.pi / 4])
area_range = (area.xmax - area.xmin, area.ymax - area.ymin)
ignitions = [
TimedPoint(
random.uniform(area.xmin + area_range[0] * .1,
area.xmax - area_range[0] * .1),
random.uniform(area.ymin + area_range[1] * .1,
area.ymax - area_range[1] * .1),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = 1
flights = []
for i in range(num_flights):
uav_start = random.uniform(start + 2500, start + 7500.)
max_flight_time = random.uniform(1000, 1500)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario