From 0d83dd73179897ccc59b60d03ef1a22c64a03841 Mon Sep 17 00:00:00 2001 From: mcarfagno Date: Fri, 23 Oct 2020 11:23:12 +0100 Subject: [PATCH] new cost function --- notebooks/MPC_racecar_tracking.ipynb | 175 +++++++++++++-------------- 1 file changed, 82 insertions(+), 93 deletions(-) diff --git a/notebooks/MPC_racecar_tracking.ipynb b/notebooks/MPC_racecar_tracking.ipynb index 05efd51..98cefaa 100644 --- a/notebooks/MPC_racecar_tracking.ipynb +++ b/notebooks/MPC_racecar_tracking.ipynb @@ -33,7 +33,7 @@ "The inputs of the model are:\n", "\n", "* $a$ acceleration of the robot\n", - "* $\\delta$ angular velocity of the robot\n", + "* $\\delta$ steering of the robot\n", "\n", "These are the differential equations f(x,u) of the model:\n", "\n", @@ -177,7 +177,7 @@ "N = 4 #number of state variables\n", "M = 2 #number of control variables\n", "T = 20 #Prediction Horizon\n", - "dt = 0.25 #discretization step" + "DT = 0.25 #discretization step" ] }, { @@ -207,15 +207,15 @@ " A[1,2]=np.sin(theta)\n", " A[1,3]=v*np.cos(theta)\n", " A[3,2]=v*np.tan(delta)/L\n", - " A_lin=np.eye(N)+dt*A\n", + " A_lin=np.eye(N)+DT*A\n", " \n", " B = np.zeros((N,M))\n", " B[2,0]=1\n", " B[3,1]=v/(L*np.cos(delta)**2)\n", - " B_lin=dt*B\n", + " B_lin=DT*B\n", " \n", " f_xu=np.array([v*np.cos(theta), v*np.sin(theta), a,v*np.tan(delta)/L]).reshape(N,1)\n", - " C_lin = dt*(f_xu - np.dot(A,x_bar.reshape(N,1)) - np.dot(B,u_bar.reshape(M,1)))\n", + " C_lin = DT*(f_xu - np.dot(A,x_bar.reshape(N,1)) - np.dot(B,u_bar.reshape(M,1)))\n", " \n", " return np.round(A_lin,4), np.round(B_lin,4), np.round(C_lin,4)" ] @@ -264,7 +264,7 @@ " # solve ODE\n", " for t in range(1,T+1):\n", "\n", - " tspan = [0,dt]\n", + " tspan = [0,DT]\n", " x_next = odeint(kinematics_model,\n", " x0,\n", " tspan,\n", @@ -292,8 +292,8 @@ "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 3.66 ms, sys: 83 µs, total: 3.74 ms\n", - "Wall time: 3.22 ms\n" + "CPU times: user 3.49 ms, sys: 0 ns, total: 3.49 ms\n", + "Wall time: 3 ms\n" ] } ], @@ -327,7 +327,7 @@ "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -371,8 +371,8 @@ "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 1.95 ms, sys: 4.06 ms, total: 6.01 ms\n", - "Wall time: 1.77 ms\n" + "CPU times: user 2.17 ms, sys: 379 µs, total: 2.55 ms\n", + "Wall time: 1.76 ms\n" ] } ], @@ -410,7 +410,7 @@ "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -523,13 +523,13 @@ " \n", " ncourse = path.shape[1]\n", "\n", - " ind = get_nn_index(state, path)\n", + " ind = get_nn_idx(state, path)\n", "\n", " xref[0, 0] = path[0,ind] #X\n", " xref[1, 0] = path[1,ind] #Y\n", - " xref[2, 0] = target_v #sp[ind] #V\n", - " xref[3, 0] = path[2,ind] #Theta\n", - " dref[0, 0] = 0.0 # steer operational point should be 0\n", + " xref[2, 0] = target_v #sp[ind] #V\n", + " xref[3, 0] = path[2,ind] #Theta\n", + " dref[0, 0] = 0.0 # steer operational point should be 0\n", " \n", " dl = 0.05 # Waypoints spacing\n", " travel = 0.0\n", @@ -649,7 +649,7 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 19, "metadata": {}, "outputs": [ { @@ -661,10 +661,10 @@ " (c) Bartolomeo Stellato, Goran Banjac\n", " University of Oxford - Stanford University 2019\n", "-----------------------------------------------------------------\n", - "problem: variables n = 282, constraints m = 343\n", - " nnz(P) + nnz(A) = 910\n", + "problem: variables n = 322, constraints m = 404\n", + " nnz(P) + nnz(A) = 1051\n", "settings: linear system solver = qdldl,\n", - " eps_abs = 1.0e-04, eps_rel = 1.0e-04,\n", + " eps_abs = 1.0e-05, eps_rel = 1.0e-05,\n", " eps_prim_inf = 1.0e-04, eps_dual_inf = 1.0e-04,\n", " rho = 1.00e-01 (adaptive),\n", " sigma = 1.00e-06, alpha = 1.60, max_iter = 10000\n", @@ -673,27 +673,26 @@ " warm start: on, polish: on, time_limit: off\n", "\n", "iter objective pri res dua res rho time\n", - " 1 0.0000e+00 1.04e+00 1.04e+02 1.00e-01 3.23e-04s\n", - " 50 3.3426e+00 2.85e-07 4.93e-08 1.00e-01 6.84e-04s\n", + " 1 0.0000e+00 1.04e+00 1.05e+02 1.00e-01 3.63e-04s\n", + " 75 1.7529e+03 4.70e-07 1.49e-06 1.55e+00 1.01e-03s\n", "\n", "status: solved\n", "solution polish: unsuccessful\n", - "number of iterations: 50\n", - "optimal objective: 3.3426\n", - "run time: 9.06e-04s\n", - "optimal rho estimate: 1.76e-01\n", + "number of iterations: 75\n", + "optimal objective: 1752.9093\n", + "run time: 1.26e-03s\n", + "optimal rho estimate: 3.18e+00\n", "\n", - "CPU times: user 226 ms, sys: 5.12 ms, total: 231 ms\n", - "Wall time: 234 ms\n" + "CPU times: user 118 ms, sys: 0 ns, total: 118 ms\n", + "Wall time: 115 ms\n" ] } ], "source": [ "%%time\n", "\n", - "MAX_SPEED = 1.25\n", - "MIN_SPEED = 0.75\n", - "MAX_STEER = 1.57\n", + "MAX_SPEED = 1.5 #m/s\n", + "MAX_STEER = np.radians(30) #rad\n", "MAX_ACC = 1.0\n", "REF_VEL=1.0\n", "\n", @@ -709,52 +708,59 @@ " \n", "#starting guess\n", "u_bar = np.zeros((M,T))\n", - "u_bar[0,:]=0.5\n", - "u_bar[1,:]=0.1\n", + "u_bar[0,:] = MAX_ACC/2 #a\n", + "u_bar[1,:] = 0.1 #delta\n", "\n", "# dynamics starting state w.r.t world frame\n", - "x_bar=np.zeros((N,T+1))\n", - "x_bar[:,0]=x0\n", + "x_bar = np.zeros((N,T+1))\n", + "x_bar[:,0] = x0\n", "\n", "#prediction for linearization of costrains\n", "for t in range (1,T+1):\n", - " xt=x_bar[:,t-1].reshape(N,1)\n", - " ut=u_bar[:,t-1].reshape(M,1)\n", - " A,B,C=get_linear_model(xt,ut)\n", + " xt = x_bar[:,t-1].reshape(N,1)\n", + " ut = u_bar[:,t-1].reshape(M,1)\n", + " A, B, C = get_linear_model(xt,ut)\n", " xt_plus_one = np.squeeze(np.dot(A,xt)+np.dot(B,ut)+C)\n", - " x_bar[:,t]= xt_plus_one\n", - "\n", - "x = cp.Variable((N, T+1))\n", - "u = cp.Variable((M, T))\n", + " x_bar[:,t] = xt_plus_one\n", "\n", "#CVXPY Linear MPC problem statement\n", + "x = cp.Variable((N, T+1))\n", + "u = cp.Variable((M, T))\n", "cost = 0\n", "constr = []\n", "\n", - " #Prediction Horizon\n", - " for t in range(T):\n", + "# Cost Matrices\n", + "Q = np.diag([200,200,100,10]) #state error cost\n", + "Qf = np.diag([10,10,10,10]) #state final error cost\n", + "R = np.diag([10,10]) #input cost\n", + "R_ = np.diag([10,10]) #input rate of change cost\n", "\n", - " cost += 30*cp.sum_squares(x[3,t]-np.arctan(df(x_bar[0,t],K))) # psi\n", - " cost += 20*cp.sum_squares(f(x_bar[0,t],K)-x[1,t]) # cte\n", - " cost += 10*cp.sum_squares(1.-x[2,t]) # desired v\n", + "#Get Reference_traj\n", + "x_ref, d_ref = get_ref_trajectory(x_bar[:,0] ,track, REF_VEL)\n", "\n", - " # Actuation rate of change\n", - " if t < (T - 1):\n", - " cost += cp.quad_form(u[:, t + 1] - u[:, t], 10*np.eye(M))\n", - " \n", - " # Actuation effort\n", - " cost += cp.quad_form( u[:, t],10*np.eye(M))\n", - " \n", - " # Kinrmatics Constrains (Linearized model)\n", - " A,B,C=get_linear_model(x_bar[:,t],u_bar[:,t])\n", - " constr += [x[:,t+1] == A@x[:,t] + B@u[:,t] + C.flatten()]\n", + "#Prediction Horizon\n", + "for t in range(T):\n", + " \n", + " # Tracking Error\n", + " cost += cp.quad_form(x[:,t]-x_ref[:,t], Q)\n", "\n", - " # sums problem objectives and concatenates constraints.\n", - " constr += [x[:,0] == x_bar[:,0]]\n", - " constr += [x[2, :] <= MAX_SPEED]\n", - " constr += [x[2, :] >= 0.0]\n", - " constr += [cp.abs(u[0, :]) <= MAX_ACC]\n", - " constr += [cp.abs(u[1, :]) <= MAX_STEER]\n", + " # Actuation effort\n", + " cost += cp.quad_form( u[:, t], R)\n", + " \n", + " # Actuation rate of change\n", + " if t < (T - 1):\n", + " cost += cp.quad_form(u[:, t + 1] - u[:, t], R_)\n", + "\n", + " # Kinrmatics Constrains (Linearized model)\n", + " A,B,C=get_linear_model(x_bar[:,t],u_bar[:,t])\n", + " constr += [x[:,t+1] == A@x[:,t] + B@u[:,t] + C.flatten()]\n", + "\n", + "# sums problem objectives and concatenates constraints.\n", + "constr += [x[:,0] == x_bar[:,0]] #starting condition\n", + "constr += [x[2, :] <= MAX_SPEED] #max speed\n", + "constr += [x[2, :] >= 0.0] #min_speed (not really needed)\n", + "constr += [cp.abs(u[0, :]) <= MAX_ACC] #max acc\n", + "constr += [cp.abs(u[1, :]) <= MAX_STEER] #max steer\n", "\n", "prob = cp.Problem(cp.Minimize(cost), constr)\n", "solution = prob.solve(solver=cp.OSQP, verbose=True)" @@ -762,12 +768,12 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 20, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -824,24 +830,18 @@ }, { "cell_type": "code", - "execution_count": 50, + "execution_count": 12, "metadata": {}, "outputs": [ { - "name": "stderr", - "output_type": "stream", - "text": [ - ":29: RuntimeWarning: invalid value encountered in true_divide\n", - " v /= np.linalg.norm(v)\n", - ":34: RankWarning: Polyfit may be poorly conditioned\n", - " K=road_curve(x_sim[:,sim_time],track)\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "CVXPY Optimization Time: Avrg: 0.2259s Max: 0.3524s Min: 0.2046s\n" + "ename": "NameError", + "evalue": "name 'road_curve' is not defined", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------\u001b[0m", + "\u001b[0;31mNameError\u001b[0mTraceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 32\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 33\u001b[0m \u001b[0miter_start\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mtime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtime\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 34\u001b[0;31m \u001b[0mK\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mroad_curve\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx_sim\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0msim_time\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mtrack\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 35\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 36\u001b[0m \u001b[0;31m# dynamics starting state w.r.t vehicle frame\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;31mNameError\u001b[0m: name 'road_curve' is not defined" ] } ], @@ -951,20 +951,9 @@ }, { "cell_type": "code", - "execution_count": 51, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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- "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "#plot trajectory\n", "grid = plt.GridSpec(4, 5)\n",